摘要
建立六自由度机械臂的关节坐标系,根据D—H参数法建立六自由度机械臂的运动学方程。正向运动学根据各关节的关节角度求取末端机构的位置和姿态:逆向运动学运用几何法来进行求解。根据逆解的选取原则从8组解中选取最优解。利用MATLAB在多组位姿下对正逆运动学求解进行对比来验证算法求解的准确性。
The joint coordinate system of the six-degree-of-freedom manipulator is established,and the kinematic equation of the six-degree-of-freedom manipulator is established according to the D-H parameter method.Forward kinematics finds the position and attitude of the end mechanism based on the joint angle of each joint;reverse kinematics uses geometric methods to solve.According to the selection principle of the inverse solution,the optimal solution is selected from the eight sets of solutions.Using MATLAB to compare the forward and inverse kinematics solutions in multiple poses to verify the accuracy of the algorithm.
作者
卢昀昊
姚远
LU Yun-hao;YAO Yuan(Rapid Manufacture Engineering Center,Shanghai University,Shanghai 200444,China)
出处
《煤炭技术》
CAS
2018年第12期308-310,共3页
Coal Technology
关键词
六自由度机械臂
正逆运动学
几何法
欧拉角
six-axis robot
forward and inverse kinematics
geometric method
Euler angle
