摘要
针对机器人在复杂任务场景中的运动学问题及工作可靠性的需求,提出一种基于任务规划的机器人运动学分析方法。首先,介绍了机器人的任务场景,阐述相应的机器人末端轨迹;其次,采用D-H参数法对机器人进行运动学建模,求解相应的正、逆运动学算法;最后,利用机器人操作系统(ROS)完成实体机器人任务规划工作。结果表明,该方法相较于用示教器控制机器人,更符合复杂任务需求,降低了机器人拖动示教的难度,具有较好的稳定性和准确性。
Aiming at the problem of robot kinematics analysis in complex task scenarios and the requirement of working reliability, a robot kinematics analysis method based on task planning is proposed.Firstly, this paper describes robot task scenario and the corresponding robot terminal trajectory.Secondly, the D-H parameter method is used to model the kinematics of the robot, and then the corresponding forward and inverse kinematics algorithms are solved.Finally, the robot operating system(ROS) is used to complete the task planning of the physical robot.The results show that the proposed method is more suitable for complex tasks than the teaching device control robot, reduces the difficulty of dragging the robot teaching, and has better stability and accuracy.
作者
庄正浩
高袁晨曦
闻贝拉
平洋
黄琮凯
沈源源
ZHUANG Zhenghao;GAO Yuanchenxi;WEN Beila;PING Yang;HUANG Congkai;SHEN Yuanyuan
出处
《计量与测试技术》
2022年第12期45-49,共5页
Metrology & Measurement Technique
