结合旋量和代数方法的工业机械臂逆运动学解法

敖天翔; 刘满禄; 张华; 赵皓

doi:10.13433/j.cnki.1003-8728.2017.0813

结合旋量和代数方法的工业机械臂逆运动学解法

doi: 10.13433/j.cnki.1003-8728.2017.0813

1.
西南科技大学特殊环境机器人技术四川省重点实验室, 四川绵阳 621000

基金项目:

四川省科技支撑计划项目（2015GZ0027）与西南科技大学研究生创新基金项目（17ycx122）资助

详细信息

作者简介:
敖天翔(1992-),硕士研究生,研究方向为机器人轨迹规划,机器人力控制,aotianxiang1992@163.com

通讯作者:
张华(联系人),教授,博士,zzhh839@163.com

计量
- 文章访问数: 241
- HTML全文浏览量: 40
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2016-11-18
- 刊出日期: 2017-08-05

Inverse Kinematic Solution of Industrial Robot Arm With Combination of Screw Theory and Algebraic Methods

1.
Special Robot Laboratory, Southwest University of Science and Technology, Sichuan Mianyang 621000, China

摘要

摘要: 针对工业机械臂逆运动学解算的问题，提出一种结合旋量方法和代数方法的逆运动学新解法。通过旋量的方法将工业机械臂整体逆运动学问题进行分解，利用Paden-kahan逆运动学子问题求解。并在该基础上利用工业机械臂的结构特点，利用代数方法进一步简化末端腕部三个关节的问题求解。以安川公司MH6六自由度工业机械人为例，验证算法正确性。实验表明：该方法可以获得正确的八组逆解并在旋量解逆运动学的基础上有效减少了中间计算步骤，降低了时间复杂度和空间复杂度。
- 工业机器人 /
- 指数基建模(POEs) /
- 逆运动学 /
- 旋量理论
Abstract: According to the industrial manipulator inverse kinematics problems, a new method combining screw theory and algebra method is proposed. The inverse kinematics problem of robot arm is decomposed by screw theory, the Paden-kahan inverse solution is used to solve the problem. Based on the structure characteristics of industrial manipulator, the algebra method is used to further simplify the solution of the three joints of the wrist. For example, the Yaskawa motoman-MH6, a 6 degrees of freedom industrial robot, is used to verify the correctness of the inverse kinematics algorithm. The experimental results show that the method can get 8 inverse solutions correctly and effectively to reduce the intermediate calculation steps and the time and space complexity compared with the existing methods.
- industry robot /
- product of exponentials(POEs) /
- invert kinematic /
- screw theory

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参考文献(14)

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