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针对机械臂运动的逆问题,提出了无障碍空间的牛顿迭代算法.并对牛顿迭代法进行了改进,建立了有障碍空间中避碰问题的一般模型,并对问题进行了求解.对于求出的机械臂指尖的姿态,先采用最大步长调整,再对剩余部分采用一次微调的方法生成指令序列,使生成的序列尽可能的短.针对具体问题1,给出了达到目标点的一个指令序列,步数为89步,精度为0.179mm;对于问题2,离散化裂纹,应用大步长调整的牛顿迭代法,给出了一个运动序列,实现了避碰焊接,各点的平均精度达到0.188mm,并对最低点附近在1mm误差范围内不可达到的区域进行了讨论,用解析和仿真的方法证明和验证了最低点不可达;对于问题3,改进了避碰问题的一般模型和算法,用试探法实现了四个焊接点的无碰焊接,并对圆台内表面在1mm误差范围内不可焊接的区域进行了分析.
Aiming at the inverse problem of manipulator motion, Newton iterative algorithm for barrier-free space is proposed, and the Newton iteration method is improved. A general model of collision avoidance problem in obstacle space is established and the problem is solved. Of the robotic arm fingertip attitude, the first step to adjust the maximum step, and then the remaining part of a fine-tuning method to generate the instruction sequence, the resulting sequence as short as possible for the specific problem 1 is given to reach a target point Order sequence, the number of steps is 89 steps, the precision is 0.179mm; for the problem 2, the discretization crack, using the Newton iterative method with large step adjustment, gives a motion sequence, to achieve the collision avoidance welding, the average accuracy of each point Reaches 0.188mm, and discusses the region which can not be reached within the error range of 1mm around the lowest point. The analytic and simulation methods are used to prove and verify that the lowest point is unreachable. For problem 3, the general model of collision avoidance problem is improved and Algorithm, the touchless method is used to realize the touchless welding of the four welding points, and the area where the inner surface of the round table is not solvable within the error range of 1mm is analyzed.