摘要
在根据机器人运动学实现上肢康复机器人控制优化的研究中,针对上肢康复机器人的结构特点,分析了结构与连杆参数。采用D-H前置坐标系法,建立了各连杆结构和坐标系的运动学方程,得到运动学正解与逆解方程,再利用蒙特卡洛法计算出该机器人的工作空间。利用Matlab中的Robotics Toolbox模块功能,建立上肢康复机器人的运动学模型,验证了运动学正解方程和逆解方程的正确性。同时对机器人进行关节空间轨迹规划仿真,得到该机器人连续而平滑的角度,速度和加速度曲线及其运动轨迹规划曲线,采用五项多项式拟合,得到各关节驱动函数,利用Adams进行运动学仿真。从而验证了机器人几何模型和数学模型的正确性,为后续的轨迹优化和动力学分析奠定了基础。
The kinematic analysis of upper limb rehabilitation robot is the basis and precondition for its control.According to the structural characteristics of this kind of robot,firstly we analyzed the parameters of its structure and connecting rods using D-H front coordinate system,and established kinematics equation of all connecting rods and coordinate system. After we obtained the inverse and the direct kinematics solution equations,the working space of the robot was calculated with Monte-Carlo method. Then,we used the Robotics Toolbox module functions in MATLAB to establish the kinematics model of upper limb rehabilitation robot,which has verified the correctness of above two equations. At the same time,we worked with the spatial trajectory planning simulation of joints,and obtained the robot＇s smooth and continuous angle,speed,acceleration curves and its movement trajectory planning curve. Finally,using fifth polynomial fitting,we obtained the joint drive function. And through the kinematics simulation in Adams,we validated the correctness of robot＇s geometric and mathematical models,which lays the foundation for future＇s trajectory optimization and dynamic analysis of robot.
出处
《计算机仿真》
CSCD
北大核心
2016年第8期332-337,共6页
Computer Simulation
基金
国家自然科学基金项目(51275282)
高等学校博士学科专项科研基金项目(20123108110009)
关键词
康复机器人
运动学
工作空间
轨迹规划
仿真
Rehabilitation robot
Kinematic
Working space
Trajectory planning
Simulation
