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采用D-H方法推导出了机械臂角度姿态与指尖空间位置的关系,以距离偏差为目标,建立了给定位置求机械臂参数的优化模型,并提出了二分步长接近式搜索算法求解该模型.进一步从实际工程精度要求出发,提出了确定精度求指令的方法.针对按照确定曲线运行的问题,采取了离散曲线而且相邻离散点之间一条指令可达的方法,并用改进的二分步长接近式搜索算法来求解.提出了解决避障问题的启发式算法和位姿空间变换法.还对机械臂结构进行了理论分析及论证,根据分析结果,针对旋转角度范围、角度量化、杆长选择等方面提出了一些建议.
The relationship between the attitude of the manipulator and the position of the fingertip is deduced by using the DH method. Taking the distance deviation as the target, an optimization model of the manipulator parameters for a given position is established and a bisection-step approach search algorithm is proposed to solve the problem Model.According to the requirements of the actual engineering accuracy, a method of determining the precision is proposed.Aiming at the problem of determining the running curve, a discrete curve and a reachable method between adjacent discrete points are adopted, Step-by-step search algorithm is proposed to solve the problem.A heuristic algorithm and pose-space transformation method are proposed to solve the obstacle avoidance problem.The theoretical analysis and demonstration of the manipulator structure are also carried out.According to the analysis results, according to the rotation angle range, Rod selection and other aspects put forward some suggestions.