MOTOMAN-UPJ型机械手运动学改进算法研究  

Study on an Improved Method in Kinematics for MOTOMANUPJ Manipulator

作　　者：陈平[1] 刘国海[1] 

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《机械传动》2006年第4期23-27,共5页Journal of Mechanical Transmission

基　　金：国家高技术研究发展项目(863计划);变压输电线带电作业机器人智能控制器(2005AA420064)

摘　　要：根据MOTOMAN-UPJ型机器人具体的结构特点,推导出机器人的正逆运动学公式。提出只需要一次矩阵逆乘的逆解算法。与传统方法相比,大大减少了计算运动方程逆解的计算量。针对逆解中有时有几组不是真解的问题,讨论各位置参数的取值对逆解结果的影响,明确了逆解角度求解公式,避免了可能出现的漏解的情况。应用MATLAB软件编程进行运动学模拟仿真,分别用9组和6组数据验证正解和逆解的合理性和正确性。According to the structure characteristics of the MOTOMAN-UPJ robot manipulator , the forward and inverse kinematics equations have been deduced . An inverse kinematics equation which needs the inverse matrix multiplication only once has been presented . Compared with the conventional methods , this method has reduced the work of calculation greatly . Considering the problem what sometimes the results of the inverse kinematics equations are not real , the affects to the robot manipulator inverse kinematics of each position parameter have been discussed , an inverse kinematics equation has been confirmed , and the situation of missing results has been avoided . At last , 9 groups of data and 6 groups of data have been used to proved the preciseness and rationality of the forward and the kinematics equations by kinematics simulation of MATLAB.

关 键 词：运动学 MOTOMAN-UPJ机器人 仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]