摘要
把Denavit和Hatenberg方法引入多节臂举升机器人质心推算的研究,以确定多节臂举升机器人各主要部件随重物的移动、其质心位置相对于基础坐标系的变化函数关系,从而确定多节臂举升机器人整体质心位置的变化函数.通过整体质心位置的变化函数,可以做出整个系统质心在水平面的变化范围图形,同时该变化函数也是举升机器人控制的反馈传递函数,最终在稳定允许的安全裕度下,确定多节臂举升机器人的安全工作空间.
The Denavit-Hatenberg method is introduced into the recursive algorithms of a muhi-joint arm boom lift robot mass center to determine the mass-center function of all the main units in the multi-joint ann boom lift ribot relativte to the original coordinate frame when the main units move along with the movement of the lifted load, so as to determine the masscenter function of the whole robot. The curves of the mass-center moving range of the robot in horizontal plane can be plotted by using the mass-center functions. And it also is the feedback propagation function for controlling the multi-joint arm boom lift robot. Finally, the workspace of the multi-joint ann boom lift robot can be accurately determined according to the allowed safe margin for stability.
出处
《机器人》
EI
CSCD
北大核心
2006年第1期50-53,58,共5页
Robot
基金
国家自然科学基金资助项目(50375071)
江苏省自然科学基金资助项目(BK2003091)
关键词
齐次坐标变换
安全裕度
起重载荷
质心
homogeneous transformation
safe margin
lifted load
mass center
