基于MATLAB的排爆机器人操作臂运动学研究  

K inem atics R esearch of B om b D isposa l R obotM an ipu lators B ased on M ATLAB

作　　者：陈良[1] 张征[1] 蒋梁中[1] 郑伟和 

机构地区：[1]华南理工大学机械工程学院,广州510640

出　　处：《组合机床与自动化加工技术》2006年第7期15-17,21,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广东省科技攻关项目(2004A10403006);华南理工大学高水平大学建设重点项目(B01-D7041010)

摘　　要：文章讨论了一种求解排爆机器人欠自由度操作臂运动学问题的方法,通过建立合适的目标矩阵和运动学方程,不采用常见的关节变量分离法,而是通过适当变换,利用MATLAB强大的矩阵运算功能和符号运算功能,对方程进行了求解,最后利用MATLAB的工具箱Robotics Toolbox对计算结果进行了仿真,并在试验样机上做了实验,结果说明该方法是正确可行的。This paper discussed a method for solving the inverse-kinematics problem of the under freedom manipulator installed on the bomb disposal robot. The appropriate target matrix and kinematics equation was built. Instead of separating variables algorithm, the equation was solved by MATLAB directly depending on its excellent capability for solving matrix and symbolic math problems. At last, the process was simulated on the Robotics Toolbox of MATLAB and the experiment was also done on the robot prototype. The results appeared that this kind of method for solving inverse - kinematics problem is correct and feasible.

关 键 词：排爆机器人 操作臂 运动学 MATLAB ROBOTICS TOOLBOX 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]