摘要
为了简化机械臂运动学表达形式,提高机械臂运动响应速度,提出了一种基于对偶四元数的正逆运动学建模方法。首先,利用对偶四元数建立机器臂正运动学的普适性方程,大大减少了正运动学的计算时间。其次,针对机械臂关节变量求解组合的问题,对现有的子问题进行描述并分成单轴和双轴两类子问题,该分类方法囊括了现有子问题分类,有利于关节变量分组求解。最后,以一个6R串联机械臂为例,进行了基于对偶四元数的正逆运动学建模及仿真分析。结果表明该方法有效,相比旋量法,其正运动学计算时间减少了约30%,其逆运动学求解几何意义更加明确。该方法可应用到其他子问题求解的机械臂构型。
To simplify the kinematics expression and to increase the motion response speed for manipulators,a kinematics modeling method is proposed based on dual quaternion. First,to reduce the computational amount,the general equation of the forward kinematics of the manipulator is presented using dual quaternion.Then,to solve the inverse kinematics problem of the assembled joint variables of manipulator,the sub-problems are classified into two groups of uniaxial and biaxialox,this classification method includes the existing sub-problem classification,which is beneficial to the joint variable grouping solution. Finally,taking a 6 R series manipulator as an example,the forward kinematics and inverse kinematics modeling and simulation analysis based on the dual quaternion are carried out. The results show that this method is effective,comparing with the spinor method,its calculation time of forward kinematics is reduced by about 30%,the geometric meaning of inverse kinematics is more clear. This method can be applied to other sub-problems solution of the manipulator configuration.
作者
葛为民
宇旭东
王肖锋
邢恩宏
Ge Weimin;Yu Xudong;Wang Xiaofeng;Xing Enhong(Tianjin Key Laboraory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education（Tianjin University of Technology）,Tianjin 300384,China)
出处
《机械传动》
CSCD
北大核心
2018年第7期112-117,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(11302147)
天津市自然科学基金(15JCYBJC19800
16JCZDJC30400)
天津市智能制造科技重大专项(15ZXZNGX00090)
关键词
机械臂
运动学
对偶四元数
子问题
Manipulator
Kinematics
Dual quaternion
Sub-problem
