论文部分内容阅读
为了精确快速求解5自由度飞机表面清洗臂运动学的位置逆解,在采用D-H法求得正运动学的基础上,采用换面法和数值迭代相结合的方法,解决了大臂在同时具有旋转和平移关节时的运动学耦合问题,得到一组适用于D-H坐标的优化位置逆解;并在Matlab中通过数值算例对正、逆解进行互验,证明了几何解的正确性。该方法解决了因自由度多而难于求其运动学逆解的问题,为后续的实时控制提供了依据。
In order to accurately and quickly solve the 5-DOF aircraft cleaning kinematic surface inverse kinematics, using the DH method to obtain the positive kinematics, based on the use of face exchange method and numerical iteration method to solve the boom in the same time In this paper, a set of optimal position inverse solutions for DH coordinates is obtained by the kinematic coupling problem of rotating and moving the joints. The numerical examples are used to verify the positive and inverse solutions in Matlab, which proves the correctness of the geometric solution. The method solves the problem of kinematic inversion due to its high degree of freedom, which provides the basis for the subsequent real-time control.