摘要
应用常规D-H建模方法,建立6R机器人正运动学模型。当模型存在误差时,轨迹规划目标逆解含有误差,实际运行轨迹无法满足机器人作业精度。提出将目标位姿与实际位姿间误差作为迭代目标,基于Levenberg-Marquardt方法求逆,利用含有误差的模型参数,实现逆解精度迭代优化,输出修正后的关节角逆解,可使机器人实际运动以所需作业精度接近轨迹规划目标位姿。经仿真验证,算法可完成复杂的轨迹规划逆解精度优化,且避免运动学模型高精标定与参数识别,有实际应用价值。
The forward kinematics model of the 6R serial robot was set up by using conventional D-H modeling method.when model has errors,the inverse solution of trajectory planning target contains errors,so the actual running trajectory can not satisfy the precision of robot operation.The error between the target pose and actual pose was proposed as iterative target.Based on the Levenberg-Marquardt method,the iterative solution precision was obtained through iterative optimization.with the model parameters containing errors,and the corrected inverse solution of joint angle was output,which can make the actual motion of the robot close to the target pose of trajectory planning with the desired operating precision.Simulation results show that the algorithm can solve optimization of inverse solution for complex trajectory planning,and avoid the high precision calibration and parameter identification of the kinematic model,which has the practically application value.
作者
邹丽梅
郭波
ZOU Limei;GUO Bo(College of Mechanical and Electrical Engineering,Wuyi University,Wuyi Mountain Fujian 354300,China)
出处
《机床与液压》
北大核心
2018年第17期39-43,共5页
Machine Tool & Hydraulics
基金
福建省教育厅科技项目(JAT160513)
