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工业机器人逆解问题的旋量解法

张立栋 李亮玉 王天琪

张立栋, 李亮玉, 王天琪. 工业机器人逆解问题的旋量解法[J]. 机械科学与技术, 2016, 35(4): 539-544. doi: 10.13433/j.cnki.1003-8728.2016.0408
引用本文: 张立栋, 李亮玉, 王天琪. 工业机器人逆解问题的旋量解法[J]. 机械科学与技术, 2016, 35(4): 539-544. doi: 10.13433/j.cnki.1003-8728.2016.0408
Zhang Lidong, Li Liangyu, Wang Tianqi. A Screw Solution of Industrial Robot's Inverse Kinematics Problem[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 539-544. doi: 10.13433/j.cnki.1003-8728.2016.0408
Citation: Zhang Lidong, Li Liangyu, Wang Tianqi. A Screw Solution of Industrial Robot's Inverse Kinematics Problem[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 539-544. doi: 10.13433/j.cnki.1003-8728.2016.0408

工业机器人逆解问题的旋量解法

doi: 10.13433/j.cnki.1003-8728.2016.0408
基金项目: 

国家自然科学基金项目(51075299)资助

详细信息
    作者简介:

    张立栋(1989-),硕士研究生,研究方向为机器人路径规划,机器人仿真技术,zhanglidong009@126.com

    通讯作者:

    李亮玉(联系人),教授,博士,liliangyu1965@163.com

A Screw Solution of Industrial Robot's Inverse Kinematics Problem

  • 摘要: 运用旋量方法建立工业机器人运动学模型,提出一类子问题以求解通用的逆解算法。利用仿真软件DELMIA的机器人模型库,给出一种"特殊位形法"来求解机器人连杆参数。将机器人前三个关节运动定义为一类新的子问题,即已知点绕两个平行轴线和一个与前两个轴垂直的轴线旋转至定点的问题。结合经典的Paden-Kahan子问题,推导出机器人8组逆解的解析算式。以IRB1400弧焊机器人为例,验证算法正确性。仿真结果显示算法误差在10-12数量级,耗时不到0.12 ms,能够满足机器人控制系统高精度和实时性要求。
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出版历程
  • 收稿日期:  2014-07-22
  • 刊出日期:  2016-04-05

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