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针对目前国内外服务机器人机械臂鲜有解耦关节的现状,设计了一款关节部分解耦的6自由度服务机器人机械臂样机。根据自由度部分解耦的特点,提出了一种在机械臂末端关节d_6≠0的情况下推导运动学逆解的新算法,该算法在运动学逆解的推导过程中避免了大量逆矩阵的计算问题。通过运动学正逆解的求解验证及仿真试验,验证了文中逆运动学算法是正确有效的。文中设计的服务机器人在结构上吸收了SCARA机器人的优点且具有满自由度,提出的运动学算法对其他机器人实际应用中应对d_6≠0时的逆运动学求解具有积极的研究参考价值。
In view of the current situation that there are few decoupling joints in service robot manipulators at home and abroad, a robot manipulator prototype with 6 degrees of freedom decoupled joints was designed. According to the characteristics of partial decoupling of degrees of freedom, a new algorithm for deriving the inverse kinematics in the case of the end joint d_6 ≠ 0 is proposed. This algorithm avoids a large number of inverse matrices in the derivation of kinematic inverse Calculate the problem. Through the verification and simulation of positive and negative solution of kinematics, it is verified that the inverse kinematics algorithm in the paper is correct and effective. The service robot designed in this paper has absorbed the advantages of SCARA robot in structure and has full degree of freedom. The proposed kinematics algorithm has a positive reference value for the inverse kinematics of d_6 ≠ 0 in other robot applications.