摘要
针对实验室一类串行关节式机器人,本文在正运动学模型的基础上,运用解析法对机器人的各个角度变量进行求解,建立逆运动学模型;同时对逆运动学进行仿真验证,将机器人末端姿态带入求解公式,与机器人实际的位姿进行对比。仿真结果表明,在误差允许的范围内,与输入正运动学的角度一致,但如果两组数据得到同一个位姿,说明机器人有两组运动学逆解,通过与机器人实际到达位置的变化进行比较,验证了该结果的可靠性。该研究为更深层次的机器人运动规划和编程系统设计奠定了理论基础。
In view of the laboratory of series articulated robot,this paper on the basis of the forward kinematics model,uses the analytic method to solve angle variables of the robot,and establishes the inverse kinematics model,for the inverse kinematics simulation validation,the ends of the robot posture into solving formula,and comparing with robot actual position.The simulation results show that in the range of allowable errors,consistent with the input is the point of view of kinematics,but if the two sets of data to get the same pose,robot has two groups of inverse kinematics,through comparing with robot actual arrival location changes,verifying the reliability of the results.The study of robot motion planning and programming of the deeper laid a theoretical basis for system design.
出处
《青岛大学学报（工程技术版）》
CAS
2016年第4期79-83,共4页
Journal of Qingdao University(Engineering & Technology Edition)
关键词
机器人
运动模型
逆运动学
验证
控制
robot
motion model
the inverse kinematics
validation
control
