摘要
对一种7自由度仿人机械臂进行了运动学分析,在求出正运动学问题的基础上,运用位姿分离的方法对其逆运动学进行了运算。这种方法计算量比较小,适合实时控制。在MATLAB环境下,用Robotics Toolbox工具箱对该机器人的逆运动学、运动轨迹等进行了仿真,验证了计算的正确性。
The analysis of kinematic on a 7 DOF anthropomorphic manipulator is presented.Calculated on the basis of kinematics problem using the method of separation of the position and orientation for the computation of its inverse kinematics.The computational guantity of this method are relatively small,suitable for real-time control.Then in the MATLAB environment,using Robotics Toolbox to simulated the robot inverse kinematics and motion trajectory.
出处
《科学技术与工程》
2011年第8期1733-1736,共4页
Science Technology and Engineering
关键词
逆运动学
仿人机械手
位姿分离
仿真
inverse kinematics humanoid robot pose separation analysis
