摘要
针对传统D-H法以及旋量法进行机器人运动学分析过程中存在运算效率低、奇异性的问题,采用倍四元数求解了缝纫机器人的运动学参数。建立倍四元数形式的缝纫机器人的运动学方程,应用消元法构造Dixon结式,实现运动学参数求解。在受限工作范围内进行运动学分析仿真,结果表明,该方法运算效率高,较D-H法在速度上提高了10%左右,可为机器人纺织缝纫过程中的运动控制提供理论依据。
Aiming at the problems of low calculation efficiency and singularity in the traditional D-H method and spinor method for robot kinematics analysis,the kinematics parameters of sewing robot are solved by using double quaternion.The kinematics equations of the sewing robot in double quaternion form are established,and the Dixon resultant is constructed using the elimination method to solve the kinematic parameters.The kinematics simulation is performed in a limited working range.The simulation results show that the method has high computing efficiency,which is about 10%faster than the D-H method,and can provide a theoretical basis for the motion control of the robot textile sewing process.
作者
闫鑫
马丽萍
王晓华
吴楠
Yan Xin;Ma Liping;Wang Xiaohua;Wu Nan(College of Electronics and Information,Xi'an Polytechnic University,Xi'an 710048,China;School of Information Engineering,Shaanxi Preschool Teachers College,Xi'an 710100,China)
出处
《机械传动》
北大核心
2020年第10期68-73,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51905405)
教育部工程科技人才培养研究项目(18JDGC029)
陕西学前师范学院科研基金项目(2018ZDKJ02)。
