一种新的机械手运动方程求解方法  

A NEW SOLUTION TO MANIPULATOR'S KINEMATIC EQUATIONS

作　　者：金永南[1] 王敏[1] 黄心汉[1] 

机构地区：[1]金日成综合大学,华中理工大学自动控制系

出　　处：《机器人》1994年第5期269-274,共6页Robot

摘　　要：本文在分析了多关节机械手臂运动关节与手腕姿态关系的基础上，提出了一种新的机械手运动方程求解方法．这种方法与传统的Ｄ－Ｈ算法相比大大减少计算运动方程正逆解的计算量，这对提高通用多关节机器人的控制速度是有用的．本文还给出了采用新算法对Ｍｏｖｅｍａｓｔｅｒ－ＥＸ机器人运动方程的正逆解与传统Ｄ－Ｈ算法的比较．This paper presents a new solution to manipulator's kinematic equations based on the analysis ofthe relation between the arm joints and the wrist poses of a multi-joint manipulator,Compared with tradi-tional algorithms ,this method reduced the computation of kinematic equations and inverse kinematic equa-tions,which is useful to improve the control speed of general multi-joint robots.Comparation between thenew algorithm and the traditional D-H algorithm in resolving the kinematic equations and the inverse kine-matic equations of the Movemaster-EX manipulator is also given in this paper.

关 键 词：机械手 D-H变换矩阵 运动学方程 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]