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浙江大学学报(工学版)
J4  2010, Vol. 44 Issue (7): 1348-1354    DOI: 10.3785/j.issn.1008-973X.2010.07.021
自动化技术     
六自由度模块化机械臂的逆运动学分析
姜宏超1,2, 刘士荣2, 张波涛1,2
1.华东理工大学 自动化研究所, 上海 200237; 2.杭州电子科技大学 自动化研究所, 浙江 杭州 310018
Inverse kinematics analysis for 6 degree-of-freedom modular
manipulator
JIANG Hong-chao1,2, LIU Shi-rong2, ZHANG Bo-tao1,2
1. Institute of Automation,East China University of Science and Technology, Shanghai 200237, China;
2. Institute of Automation,Hangzhou Dianzi University, Hangzhou 310018, China
 全文: PDF 
摘要：

针对自主研发的六自由度(DOF)模块化机械臂,提出一种逆运动学求解方法.根据机械臂的结构特点和运动学约束,对机械臂的运动学进行分析.建立该类型机械臂的正运动学模型,得到了机械臂逆运动学的完整解析解.采用Denavit-Hartenberg(D-H)法对机械臂操作空间进行描述,在考虑机械臂运动学约束的基础上,得到以关节角度为变量的正运动学模型.通过分析正运动学模型的可解性, 采用矩阵逆乘的解析法求解机械臂的正运动学模型,得到了该类机械臂逆运动学的完整解析解.通过仿真验证了正运动学模型及运动学逆解的正确性,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.
关键词： 模块化机械臂;  正运动学;  逆运动学;  完整解析解    
Abstract:

An inverse kinematics procedure was proposed aimed at the developed 6 degreeoffreedom (DOF) modular manipulator. The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematic constraint. A forward kinematics model of the maniputor was conducted, and the complete analytical solution of the inverse kinematics was obtained. The DenavitHartenberg (DH) method was used to describe the workspace of the manipulator, resulting in the forward kinematics model with angle variables under the kinematic constraint of the manipulator. The solvability of the forward kinematics model was analyzed. Then the complete analytical solution of the inverse kinematics can be acquired by solving the forward kinematics model with the inverse matrix analysis. Simulation results verified the correctness of the forward kinematics model and the inverse kinematics solution. The inverse kinematics results can be further used for the precise location of endeffector and the motion planning.
Key words: modular manipulator    forward kinematics    inverse kinematics    complete analytical solution
出版日期: 2010-07-22
:  TP 241  
基金资助:

国家自然科学基金资助项目(60675043);浙江省科技计划资助项目(2007C21051);杭州电子科技大学科研启动基金资助项目(KYS09150543).
通讯作者: 刘士荣,男, 教授,博导.     E-mail: liushirong@hdu.edu.cn
作者简介: 姜宏超(1985—),男,吉林四平人,博士生,从事智能机器人运动规划与控制等研究.E-mail:andyylemon@163.com
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引用本文:

姜宏超, 刘士荣, 张波涛. 六自由度模块化机械臂的逆运动学分析[J]. J4, 2010, 44(7): 1348-1354.

JIANG Hong-Chao, LIU Shi-Rong, ZHANG Bei-Chao. Inverse kinematics analysis for 6 degree-of-freedom modular
manipulator. J4, 2010, 44(7): 1348-1354.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2010.07.021    或    http://www.zjujournals.com/xueshu/eng/CN/Y2010/V44/I7/1348

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