摘要
近年来,关于自主机器人机械臂控制的研究越来越多,如何快速、准确且平稳地抓取物体一直是研究的难点。用D-H建模方法对四自由度机械臂进行建模,给出了机械臂正运动学方程,并用代数法及几何法给出了机械臂逆解,算出了各关节变量值。最后,通过实验比较了两种逆解方法的有效性,使自主机器人机械臂的控制越来越准确、平稳。
D-H modeling approach is utilized to study the modeling of manipulator with four degrees of freedoms,and the manipulator forward kinematics equations are calculated in this paper.Algebraic and geometric methods are employed to calculate the inverse solution of manipulator and the value of each joint variable.On the self-developed robot,algebraic method and geometric method are used to calculate the inverse kinematics solution respectively,and the advantages and disadvantages of different trajectory methods were compared.
出处
《工业控制计算机》
2014年第7期113-115,共3页
Industrial Control Computer
关键词
D-H
运动学
逆解
D-H,Kinematics,lnverse Kinematics Solution
