本文關(guān)鍵詞：6自由度關(guān)節(jié)機(jī)器人運(yùn)動(dòng)學(xué)反解的共形幾何代數(shù)方法　出處：《機(jī)械科學(xué)與技術(shù)》2017年08期 　論文類(lèi)型：期刊論文

  更多相關(guān)文章： 共形幾何代數(shù) 自由度關(guān)節(jié) 機(jī)器人 運(yùn)動(dòng)學(xué)反解

【摘要】：機(jī)器人運(yùn)動(dòng)學(xué)模型的建立普遍利用Denavit-Hartenberg(D-H)參數(shù)法和旋量法,但是D-H參數(shù)法的幾何意義不夠明確,旋量法則有低自由度、關(guān)節(jié)軸線相交于1點(diǎn)的結(jié)構(gòu)限制。針對(duì)6自由度關(guān)節(jié)機(jī)器人反解問(wèn)題提出一種利用共形幾何代數(shù)求解的新方法。首先以旋轉(zhuǎn)關(guān)節(jié)軸線和旋轉(zhuǎn)平面為基礎(chǔ)建立無(wú)坐標(biāo)系機(jī)器人模型,并定義肩部、肘部和腕部3種機(jī)器人結(jié)構(gòu)設(shè)計(jì)形式。然后在上述模型和機(jī)器人結(jié)構(gòu)下利用已知共形點(diǎn)建立直線、平面、圓周和球體等共形幾何對(duì)象,通過(guò)幾何對(duì)象的約束關(guān)系進(jìn)行簡(jiǎn)單的代數(shù)運(yùn)算完成各關(guān)節(jié)軸的旋轉(zhuǎn)角計(jì)算。另外,該方法在進(jìn)一步簡(jiǎn)化代數(shù)運(yùn)算的基礎(chǔ)上,利用2直線對(duì)象和旋轉(zhuǎn)平面法矢量的約束關(guān)系唯一確定旋轉(zhuǎn)角,從而完成運(yùn)動(dòng)學(xué)反解計(jì)算。最后,以常用的人機(jī)協(xié)作的UNIVERSAL ROBOT UR5 6自由度關(guān)節(jié)機(jī)器人為例,利用該算法進(jìn)行運(yùn)動(dòng)學(xué)反解的驗(yàn)證,計(jì)算結(jié)果表明該算法的正確性。
[Abstract]:Denavit-Hartenberg-D-H parameter method and spinor method are widely used to build kinematics model of robot, but the geometric significance of D-H parameter method is not clear enough. The spinor law has a low degree of freedom. This paper presents a new method for solving the inverse solution of a 6-DOF joint robot by using conformal geometric algebra. Firstly, based on the axis of rotating joint and the plane of rotation, a sit-free method is established. Standard robot model. Three kinds of robot structures are defined, such as shoulder, elbow and wrist. Then the conformal geometric objects such as line, plane, circumference and sphere are established by using the known conformal points under the above model and robot structure. The rotation angle of each joint axis is calculated by the simple algebraic operation of the constraint relation of the geometric object. In addition, the method is based on further simplifying the algebraic operation. The rotation angle is uniquely determined by the constraint relation between the 2-line object and the normal vector of the plane of rotation, and the inverse kinematics solution is calculated. Finally. Taking the commonly used UNIVERSAL ROBOT UR5 6 DOF joint robot as an example, the algorithm is used to verify the kinematics inverse solution. The results show that the algorithm is correct.
【作者單位】： 常州工學(xué)院機(jī)械與車(chē)輛工程學(xué)院;
【基金】：江蘇省自然科學(xué)基金青年項(xiàng)目(BK20140252) 江蘇省高校自然科學(xué)研究面上項(xiàng)目(14KJB510003)資助
【分類(lèi)號(hào)】：TP242
【正文快照】： 機(jī)器人的反解[1-3]是在已知機(jī)器人末端執(zhí)行器即工具的期望位姿的前提下,求解機(jī)器人各關(guān)節(jié)的旋轉(zhuǎn)角的問(wèn)題。它是進(jìn)行機(jī)器人軌跡規(guī)劃和實(shí)時(shí)控制的前提和基礎(chǔ),許多學(xué)者在這方面做了大量的工作[4-8]。機(jī)器人反解首先需要建立機(jī)器人運(yùn)動(dòng)學(xué)模型,目前機(jī)器人運(yùn)動(dòng)學(xué)分析方法主要有2種:D

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