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针对一类冗余自由度超声检测机器人的传统逆运动学求解算法耗时长且准确度低的问题,提出了一种基于集合划分和解析解法相结合的逆运动学求解算法。首先采用De-navit-Hartenberg方法建立检测机器人的运动学方程;其次,利用解析解法求出机器人逆解的解析表达式,并提出三种自由度分配方案;最后,选择合适的自由度分配方案,据此对超声波探头位姿集合作划分,结合逆解解析式求出运动学逆解。实际应用中,借助十一轴超声波检测机器人,利用该算法对具有复杂外形的飞机螺旋桨叶片进行检测。结果表明,与传统的纯数值解法相比,该算法能够快速得到精确的运动学逆解。
Aiming at the problem of traditional inverse kinematics solution algorithm of a class of redundant degrees of freedom ultrasonic detection robots that takes a long time and low accuracy, an inverse kinematics solution algorithm based on a set division and an analytical solution is proposed. Firstly, De-navit-Hartenberg method was used to establish the kinematics equation of the robot. Secondly, the analytic solution of the robot’s inverse solution was obtained by using the analytical solution method. Three kinds of degrees of freedom distribution were proposed. Finally, Based on this, the ultrasonic probe position and set are divided into three parts, and the kinematic inverse solution is obtained by combining with the inverse solution. In practice, with the aid of eleven-axis ultrasonic testing robots, this algorithm is used to detect aircraft propeller blades with complex appearance. The results show that the proposed algorithm can get accurate kinematic inverse quickly compared with the traditional pure numerical solution.