摘要
四索驱动摄像机器人是一种绳牵引并联驱动机器人,根据其构型,提出了一种改进的正向运动学算法,不涉及求解雅可比矩阵导数及其逆,对该机构运动学进行快速精确求解。通过与牛顿迭代法进行数值实验对比,表明所提出的改进算法在同等精度下极大提升了运算速度,验证了该算法的有效性、准确性和实用性。
Four-cable driven camera robot is a kind of rope-driven parallel robot.An improved forward kinematics algorithm based on its configuration is proposed,which does not involve solving the derivative of the Jacobi matrix and its inverse,fast and accurate solution of kinematics of this mechanism is carried out.By comparing with Newton iteration method,it is shown that the improved algorithm greatly improves the operation speed with the same precision,and the validity,accuracy and practicability of the algorithm are verified through numerical experiments.
作者
周承敏
谢敬华
甘章泽
ZHOU Chengmin;XIE Jinghua;GAN Zhangze(School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;State Key Laboratory for High Performance Complex Manufacturing,Central South University,Changsha 410083,China)
出处
《传感器与微系统》
CSCD
2020年第10期8-10,共3页
Transducer and Microsystem Technologies
关键词
绳牵引并联驱动
雅可比矩阵
运动学正解
运算速度
rope traction parallel drive
Jacobi matrix
forward kinematics
operation speed
