摘要
针对采用D-H法求解机械手臂逆运动学存在的不足,提出几何法解决七自由度插接管焊缝检测机器人关节变量的逆解问题.该方法与矩阵变换法相比能很大程度上减少运动方程逆解的计算量,对于提高关节的控制速度极为有利.结合实际扫查的空间相贯曲线,对各关节的运动位移进行了计算仿真.结果表明,各关节的运动学逆解唯一,计算简单,运算量小,特别是对于具有多冗余度的机器人,此法能够避免奇异解的讨论,提高计算效率.
In resolving the inverse kinematic equations, a geometric algorithm was adopted to the seven degrees of freedom robot. Compared with the traditional D-H transformation matrix algorithm, this method reduces the complex computation of inverse kinematic equations, which is very useful to improve the control speed of multi-joint robot. Based on the actual detected spatial intersected curve, the simulation to the angle-variation of all joints was done. The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2004年第8期1321-1323,1327,共4页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展计划(863)项目(2002AA442110)
关键词
焊缝
检测机器人
运动学
轨迹规划
几何算法
Degrees of freedom (mechanics)
Motion planning
Robot applications
Welding machines
