摘要
设计了一种新型六自由度服务机器人机械臂,此机械臂采用部分解耦的结构,能在不明显增加体积的情况下,带来逆运动学求解快速的优点。采用D-H(Denabit-Hartenberg)法建模,获得机械臂正运动学模型,进行正运动学求解,并针对其结构特点,提出一种新的几何法来求解逆运动学问题。通过空间几何关系转换,得到逆解解析表达式和末端位置,该末端位置与正解的末端位置表达式完全相同,印证了几何方法理论上的正确性。经过数值计算验证了正运动学模型和逆解的正确性,为机器人接下来的路径规划和运动控制提供了理论基础。
A new type service robot arm of six Degrees of Freedom （DOF） is designed.The new robot has the advantages of par-tial decoupling structure which can assure real-time inverse kinematics solving .The Denabit-Hartenberg （ D-H） method was used to conduct a model.The Denabit-Hartenberg （D-H） method is used to conduct a kinematic model and the forward kinematics problem is solved .According to the structural characteristic of this robot ,a new geometry method was proposed to solve the inverse kinematics problem for simplicity .The analytical solution of the inverse kinematics and the endpoint are acquired by transforming the space geometric relationships .The expression of the endpoint is exactly the same with that of the forward kinematics ,which confirms theoryly the correctness of the geometry method .Through numerical calculation ,the accuracy of the forward kinematics model and the inverse solution was verified ,which provides a theoretical basis for the robot in the future path planning and motion control.
出处
《现代制造工程》
CSCD
北大核心
2015年第4期27-32,共6页
Modern Manufacturing Engineering
基金
江苏省自然科学基金项目(BK20131205)
2012江苏省"青蓝工程"优秀青年骨干教师培养对象项目
南通市应用研究计划项目(BK2013005)
关键词
服务机器人
部分解耦
正逆运动学
几何法
service robot
partial decoupling
forward and inverse kinematics
geometry method
