摘要
针对六自由度串联机械臂的运动问题,对机械臂运动学数学模型、末端位置误差、机械臂奇异形位等方面进行了研究。针对机械臂的运动学模型问题,基于D-H法建立了机械臂的正逆运动学模型,并利用Matlab建立了运动学模型的仿真验证程序;利用该模型,通过给定关节转角误差,对机械臂末端位置误差的敏感方向进行了仿真分析;通过推导其末端雅可比矩阵,分析了机械臂在工作空间内的奇异形位。研究结果表明:机械臂运动学模型结果与实际结果误差很小,验证了运动学模型是正确的,并且机械臂存在两个极限位置奇异。
Aiming at the motion of the 6-DOF manipulator,the kinematic mathematical model of the manipulator,the end position error,and the singularity of the robot arm were studied.For the kinematics model problem of the manipulator,the positive and negative kinematics model of the manipulator was established based on the D-H method,and the simulation program was built in Matlab software to verify the kinematics models.Based on the kinematics model,the sensitivity direction of the end position error of the manipulator was simulated and analyzed by giving a joint angle error.The Jacobian matrix was calculated and the singularity of the manipulator in the working space was analyzed.The results indicate that the error between the kinematic model result and the actual result of manipulator is small,and the kinematics models are right,and there are two extreme positions of the robot arm.
作者
袁媛
YUAN Yuan(School of Aviation Maintenance Engineering,Xi'an Aeronautical Polytechnic Institute,Xi'an 710089,China)
出处
《机电工程》
CAS
北大核心
2018年第12期1329-1333,共5页
Journal of Mechanical & Electrical Engineering
