摘要
对机器人逆运动学的分析研究是实现控制和轨迹规划的基础。介绍了旋量理论和逆运动学指数积公式;基于旋量理论和指数积公式进行了机器人逆运动学子问题的分析;最后,根据机器人的结构特点,建立了RRRP机器人的逆运动学模型,将整体逆运动学问题的求解划归为相应子问题的求解,得到了给定末端工具位姿条件下关节变量的表达式。整个过程显示了旋量理论在逆运动学分析中对比D-H参数法的优越性和简洁性,为类似运动学乃至动力学的分析求解提供了新的思路。
The research on robot inverse kinematics is the basis of robot controlling. Firstly,the screw theory and inverse kinematical product of exponentials（ POE） were introduced. Then,based on the screw theory and inverse kinematical POE,the inverse kinematical sub problems were analyzed. The inverse kinematical model of RRRP robot was built according to its characteristics. The whole inverse kinematical problem was divided into several sub problems,and joints angles equations were obtained under the giving position and pose of the end tool. Compared with the traditional D-H method,the whole process of the presented method showed the simpler and superior meaning. The method provides a new approach for the analysis of similar kinematics and dynamics.
出处
《机械科学与技术》
CSCD
北大核心
2014年第6期820-824,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省重点学科建设专项资金项目(102-00x903)资助
关键词
机器人
旋量理论
逆运动学
control
inverse kinematics
matrix algebra
robots
screw theory
