摘要
为了解决埃夫特ER7L-C10工业机器人的运动控制问题,对其进行运动学和奇异性分析。采用标准D-H参数法建立了机器人连杆坐标系及运动学方程,应用分离变量法求解了机器人的逆运动学解析解,利用C++编程运动学程序验证了运动学分析的正确性。应用微分变换法完成机器人奇异性分析并运用MATLAB进行仿真,展示了机器人位置奇异时各个关节变量间的关系。研究结果可为进一步实现ER7L-C10工业机器人轨迹规划和实时控制提供理论和技术基础。
In order to solve the motion control problem of EFORT ER7 L-C10 industrial robot,the kinematics and singularity of ER7 L-C10 industrial robot were analyzed.The robot link coordinate system and kinematics equation were established by the standard D-H method.The inverse kinematics analytical solution of the robot was solved by the separation variable method.The kinematics program were programmed with C++to verify the correctness of kinematics analysis.The singularity analysis of the robot was completed by the differential transformation method,and the simulation was carried out by using MATLAB to show the relationship between the joint variables when the robot position was singular.The results of kinematics and singularity analysis of ER7 L-C10 industrial robot provide the theoretical and technical basis for further trajectory planning and real-time control.
作者
张付祥
郑雨
李俊慧
黄风山
ZHANG Fuxiang;ZHENG Yu;LI Junhui;HUANG Fengshan(School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China;Shijiazhuang Iron&Steel Co.,Ltd.,Shijiazhuang 050031,China)
出处
《中国科技论文》
CAS
北大核心
2022年第10期1167-1172,共6页
China Sciencepaper
基金
国家重点研发计划项目(2018YFB1308702)
石家庄市科学技术研究与发展计划项目(216010017A)。
关键词
工业机器人
运动学
坐标系
奇异性
industrial robot
kinematics
coordinate system
singularity
