| 6自由度装校机器人逆解的确定 |
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| 引用本文： | 谢志江,李诚,刘楠,倪卫.6自由度装校机器人逆解的确定[J].吉林大学学报(工学版),2012,42(6):1563-1568. |
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| 作者姓名： | 谢志江 李诚 刘楠 倪卫 |
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| 作者单位： | 1. 重庆大学机械传动国家重点实验室,重庆,400044
2. 中国工程物理研究院激光聚变研究中心,四川绵阳,621900 |
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| 基金项目： | 国防预研基金项目(426050304) |
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| 摘 要： | 为了实现对自主研发的6自由度装校机器人的精确控制,提出了一种机器人的逆解确定方法。通过D-H(Denavit-hartenberg matrix)法建立机器人各连杆的参考坐标系获得D-H参数,推导出机器人的运动学正解并采用解析法求得运动学逆解。基于作业时间最优的思想,采用在X-Y平面末端定域方法从多组逆解中确定出一组运动学逆解。运动学逆解可以用于机械臂末端执行器的精确定位和运动规划,为实现机器人的轨迹规划及实时控制等提供了理论基础。
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| 关 键 词： | 自动控制技术 装校机器人 运动学逆解 解析法 末端定域 |
Determination of inverse kinematics of a 6-DOF installing-calibrating robot |
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| XIE Zhi-jiang,LI Cheng,LIU Nan,NI Wei.Determination of inverse kinematics of a 6-DOF installing-calibrating robot[J].Journal of Jilin University:Eng and Technol Ed,2012,42(6):1563-1568. |
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| Authors: | XIE Zhi-jiang LI Cheng LIU Nan NI Wei |
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| Affiliation: | 1.State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China;2.Research Center of Laser Fusion,China Academy of Engineering Physics,Mianyang Sichuan 621900,China) |
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| Abstract: | In order to control the 6-DOF installing-calibrating robot accurately,a method to determine the reverse kinematics solutions of the robot was proposed.The coordinate systems of joints were set up and DH parameters were obtained using DH method.Then forward kinematic solution was derived.The inverse kinematics equations of the robot were established based on analytical method.A solution closest to the current robot for a number of inverse kinematics solutions was chosen through the rules of regional dividing of the end-points in X-Y plane.The inverse kinematics results can be used for precise location of the end-effector and the motion planning,and providing theoretical basis for the robot trajectory planning and online real-time calculation. |
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| Keywords: | automatic control technology installing-calibrating robot inverse kinematics solutions analytical method end-points regional dividing |
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