摘要
针对机械臂运动轨迹偏差较大的问题,采用D-H法建立模型,对六自由度机械臂进行了正、逆运动学的分析,基于机械臂关节轴的典型几何结构利用PIEPER准则推导逆运动学的封闭解;在笛卡尔空间中分析了直线插补和圆弧插补两种方法,通过对空间插值点的优化减小轨迹偏差,实现轨迹优化。仿真验证了算法的可行性,对机械臂在工业中的实际应用具有一定的指导意义。
Aiming at the problem that robotic manipulator has a large deviation of motion trajectory,D-H coordinate systems of the robot are set up. Kinematics and inverse kinematics are analyzed. Based on the typical geometry of the joint axis of the manipulator,the closed-form solution of inverse kinematics is derived by using PIEPER criterion. The linear interpolation algorithm and the circular interpolation algorithm are discussed in the trajectory planning of the Cartesian space. The trajectory deviation is reduced by optimizing the interpolation points. The feasibility of the algorithm is verified by simulation,which has some guiding significance for the practical application of the manipulator in industry.
作者
李珺茹
齐立群
韩文波
LI Junru;QI Liqun;HAN Wenbo(School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 130022)
出处
《长春理工大学学报（自然科学版）》
2019年第1期68-73,共6页
Journal of Changchun University of Science and Technology(Natural Science Edition)
关键词
六自由度机械臂
D-H建模
逆运动学
轨迹规划
优化算法
Six degrees of freedom manipulator
D-H method
inverse kinematics
trajectory planning
optimization algorithm
