论文部分内容阅读
当机器人构型不满足Pieper准则的时候,传统的运动学建模方法通常无法求出机器人逆运动学解析解.针对不满足Pieper准则的机器人构型,基于相邻关节轴换位前后正运动学结果不变的准则,提出一种全新的运动学建模方法——相邻关节轴建立顺序换位法,并给出了适用该方法的机器人构型条件.以一种不满足Pieper准则的微创腹腔手术机器人为例,应用该方法求解出其精确的解析解,并通过Matlab Simulink仿真验证了该方法的正确性.
When the robot configuration does not satisfy the Pieper criterion, the traditional kinematic modeling methods usually can not find the analytical solution of robot inverse kinematics. For robot configurations that do not satisfy the Pieper criterion, based on positive kinematics A new kinematic modeling method is proposed, which is to establish the sequential transposition method for the adjacent joint axes and to give the robot configuration conditions suitable for the method. An example of abdominal surgery robots was established. The exact analytical solution was solved by this method. The correctness of the method was verified by Matlab Simulink simulation.