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用连续法求一类混合链机器人机构的全部位置正解 总被引:2,自引:0,他引:2
本文对一类混合链机器人机构的位置正解问题进行了研究。首先用D-H矩阵法建立机构上下平台之间的坐标转换关系;然后利用杆长约束条件得到机构的位置正解方程组;最后应用连续法直接求出其全部位置正解。本文方法形式简洁、求解方便,且具有一般性,可推广应用于其他类型混合链机器人机构及并联机器人机构的位置正解研究。 相似文献
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机器人技术发展到现在,虽然已经得到了突飞猛进的进步,但是对于并联机器人运动学正解的封闭解问题依然是机器人技术的瓶颈,在实际应用中采用的广义几何法和方程组的数值解法等,不但推导过程非常复杂,而且在求解的过程中还存在解不唯一的问题。为了避免上述问题,根据多元函数的Taylor公式推导出了一种基于三元非线性方程组牛顿迭代法的并联机器人运动学正解算法;同时,基于其数学原理,也可以得到并联机器人的反解。Taylor法以其自身的优势,巧妙地解决繁琐的并联机器人运动学正解多解取舍问题,直接获得了工作空间内满足运动连续性的合理解。该算法的迭代次数少,收敛速度快,是一种非常有潜力的方法。最后将该算法应用到CoDeSys开发环境,通过配置方式,证明Codesys环境下并联机器人运动学可实时灵活应用。 相似文献
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目的为提高工作效率,提升工业机器人的可靠性、稳定性和运动精度,避免机器人出现速度以及加速度的突变,对机器人的位置进行准确的控制。方法 以RBT-6T03P并联机器人为例,应用坐标变化法和位置反解算法对并联机器人机构的位置坐标进行分析并利用MATLAB进行仿真。结果 结果表明:通过位置反解对并联机器人的坐标进行变换求解是方便可行。结论 所述控制方法相对于并联机器人求正解算法更加简单、方便、快捷。 相似文献
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基于神经网络的冗余度TT-VGT机器人的运动学求解 总被引:1,自引:0,他引:1
应用BP神经网络对冗余度TT-VGT机器人的位姿正解进行训练学习,进而求解机器人
的位姿反解问题.根据网络模型求得机器人的一、二阶影响系数,应用神经网络求解雅可比
矩阵的伪逆.并对七重四面体的变几何桁架机器人进行了仿真计算. 相似文献
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张兆印 《计算机工程与应用》2009,45(9):47-48
对6-DOF并联机器人的位置正解进行了研究和分析,通过位置反解的求解思路来解位置正解的问题。将上下平台统一在一个坐标系下。按照空间两点间距离计算公式,以6个杆的伸长值为已知量,位姿参数为未知量,建立关于6个杆的参数方程。通过迭代法求得位姿参数。特点之一是未知量个数少,计算精度高;另一特点是从实现的角度来阐述,实用性强。通过实验验证该思路满足即时控制的要求。 相似文献
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3-RRRT并联机器人位置正向求解研究 总被引:2,自引:0,他引:2
研究一种3-RRRT型并联机器人机构的运动学正向求解方法。根据3-RRRT型并联机器人机构特点以及关节运动的取值范围,提出了以并联机器人支链中支杆的方向余弦和动平台绝对位置坐标为系统的广义坐标的方法,并详细地推导了3-RRRT型并联机器人运动学模型,通过进一步消除中间变量的方法最终获得了易于正、逆运动学求解的只包含3个驱动关节坐标与动平台3个绝对位置坐标的约束方程组。最后,运用基于Moore—Penwse广义逆的牛顿迭代格式编制了MATLAB运动学正向求解程序,并进行了运动学正向求解数值仿真,结果表明求解程序快速有效。 相似文献
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This article provides an estimation model for calibrating the kinematics of manipulators with a parallel geometrical structure. Parameter estimation for serial link manipulators is well developed, but fail for most structures with parallel actuators, because the forward kinematics is usually not analytically available for these. We extend parameter estimation to such parallel structures by developing an estimation method where errors in kinematical parameters are linearly related to errors in the tool pose, expressed through the inverse kinematics, which is usually well known. The method is based on the work done to calibrate the MultiCraft robot. This robot has five linear actuators built in parallel around a passive serial arm, thus making up a two-layered parallel-serial manipulator, and the unique MultiCraft construction is reviewed. Due to the passive serial arm, for this robot conventional serial calibration must be combined with estimation of the parameters in the parallel actuator structure. The developed kinematic calibration method is verified through simulations with realistic data and real robot kinematics, taking the MultiCraft manipulator as the case. © 1994 John Wiley & Sons, Inc. 相似文献
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为了帮助患者进行踝关节康复训练,减轻治疗师工作强度,在分类分析现有的各类型踝关节康复机器人的基础上,设计了一种六自由度并联3-URS踝关节康复机器人。从人体生理结构及康复训练需求出发,设计、优化了康复机器人结构,加工制造了实物样机模型;采用闭环矢量的方法建立了并联机器人运动学模型,结合Rosenbrock-Banana优化函数,将正逆运动学数值求解问题转换为优化问题。以背屈训练轨迹作为数值算例,求解精度可达10-10~10-7mm;结合虚拟样机技术,验证了该并联机器人运动学优化求解方法的可靠性,适用于3-URS并联踝关节康复机器人。 相似文献
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介绍了并联机器人的特点及其应用,对全柔性铰链平面并联机器人建立了刚性模型,并采用闭环线型原理建立理论运动学线性模型(Jacobian矩阵),用ANSYS软件对其进行有限元分析,得到有限元运动学模型(Jacobian矩阵值),讨论两者关系,发现有限元模型比理论模型要精确. 相似文献
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基于符号计算研究一类6-SPS并联机器人运动学正解问题 总被引:2,自引:1,他引:1
并联机器人运动学正解问题是一个重要而且难以解决的问题.本文利用符号计算工具,应用Dialytic消元法,对一类6-SPS并联机器人的运动学正解问题进行研究.得到一个变元多项式方程,给出了正解的解析解.在此基础上确定其工作空间,求出其解范围内全部实解.此种方法对于一般6-SPS同样适用 相似文献
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《Engineering Applications of Artificial Intelligence》2005,18(6):685-693
The solution of inverse kinematics problem of redundant manipulators is a fundamental problem in robot control. The inverse kinematics problem in robotics is the determination of joint angles for a desired cartesian position of the end effector. For the solution of this problem, many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. Furthermore, many neural network approaches have been done to this problem. But the neural network-based solutions are not much reliable due to the error at the end of learning. Therefore, a reliability-based neural network inverse kinematics solution approach has been presented, and applied to a six-degrees of freedom (dof) robot manipulator in this paper. The structure of the proposed method is based on using three networks designed parallel to minimize the error of the whole system. Elman network, which has a profound impact on the learning capability and performance of the network, is chosen and designed according to the proposed solution method. At the end of parallel implementation, the results of each network are evaluated using direct kinematics equations to obtain the network with best result. 相似文献
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Amir Rezaei Alireza Akbarzadeh Payam Mahmoodi Nia Mohammad-R. Akbarzadeh-T 《Robotics and Computer》2013
This paper investigates the problems of kinematics, Jacobian, singularity and workspace analysis of a spatial type of 3-PSP parallel manipulator. First, structure and motion variables of the robot are addressed. Two operational modes, non-pure translational and coupled mixed-type are considered. Two inverse kinematics solutions, an analytical and a numerical, for the two operational modes are presented. The direct kinematics of the robot is also solved utilizing a new geometrical approach. It is shown, unlike most parallel robots, the direct kinematics problem of this robot has a unique solution. Next, analytical expressions for the velocity and acceleration relations are derived in invariant form. Auxiliary vectors are introduced to eliminate passive velocity and acceleration vectors. The three types of conventional singularities are analyzed. The notion of non-pure rotational and non-pure translational Jacobian matrices is introduced. The non-pure rotational and non-pure translational Jacobian matrices are combined to form the Jacobian of constraint matrix which is then used to obtain the constraint singularity. Finally, two methods, a discretization method and one based on direct kinematics are presented and robot non-pure translation and coupled mixed-type reachable workspaces are obtained. The influence of tool length on workspace is also studied. 相似文献
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With the upsurge of interest in parallel processing during the 1980s, some researchers have applied such techniques indiscriminately, even in applications where little inherent concurrency exists. In the paper the kinematics of a 5-DOF robot arm are investigated to assess the degree of parallelism contained within alternate robot models. This concurrency is mapped into occam processes, then control software generated to control the robot arm, firstly from a single transputer, then secondly from a network of transputers. On the basis of our findings, we conclude that there is limited parallelism which can be exploited in the Homogeneous transform model of the kinematics of a serial-link manipulator. An alternative formulation of the kinematic model is required before much speed-up can be achieved by parallel calculations. However, the architectures studied are suitable for modular manipulator systems, where joint transforms have to be calculated separately. 相似文献
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