机器人机构上任意点速度雅可比矩阵及其自动生成  

Jacobi velocity matrix of arbitrary point in the robot mechanism and its automatic generation

作　　者：辛洪兵[1] 余跃庆[2] 

机构地区：[1]北京工商大学机械自动化学院,北京100037 [2]北京工业大学机电学院,北京100022

出　　处：《机械设计》2007年第8期20-25,共6页Journal of Machine Design

基　　金：国家自然基金资助项目(50575002);北京市自然基金资助项目(3062004);北京市科技新星计划资助项目(954811300)

摘　　要：推导出串联机器人机构上任意点的速度和雅可比矩阵计算公式,在此基础上,编制出机器人机构任意杆件上任意点的雅可比矩阵自动生成程序。对于两自由度机器人和PUMA560机器人的计算实例证明了程序的有效性。该程序可作为机器人机构雅可比矩阵自动生成的实用工具。Calculation formulae of velocity of arbitrary point in the series robotic mechanism and Jacobian matrix were derived. Taking this as a base, the automatic generative program of Jacobian matrix for arbitrary point on arbitrary bar piece of the robotic mechanism was worked out. The effectiveness of program was testified by living calculation examples on the two DOF robot and PUMA560 robot. This program can be used as a practical tool for the automatic generation of Jacobian matrix of robot mechanism.

关 键 词：机器人学 机构学 运动学 雅可比矩阵 数学模型 速度 

分 类 号：TH112.1[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]