机器人逆运动学算法及ADMAS仿真  

Arithmetic of Inverse Kinematics of Robots Simulation on ADMAS

作　　者：孙涛[1] 张征[1] 胡俊[1] 蒋梁中[1] 

机构地区：[1]华南理工大学机械工程学院,广东广州510640

出　　处：《机床与液压》2008年第3期23-25,31,共4页Machine Tool & Hydraulics

基　　金：广东省科技攻关项目(2004A10403006)

摘　　要：讨论了一种求解排爆机器人运动学问题的方法,通过建立合适的目标矩阵和运动学方程,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ADMAS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。A method for solving the inverse-kinematics problem of the under freedom manipulator installed on the bomb disposal robot was discussed. The appropriate target matrix and kinematics equation were built. The process was simulated on the ADAMS and the experiment was done on the robot prototype. The results show that this kind of method for solving inverse-kinematics problem is correct and feasible.

关 键 词：机器人 操作臂 运动学 仿真 ADAMS 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]