可重构模块化机器人逆运动学建模  

Inverse kinematics modeling for the reconstruct-able modularized robots

作　　者：张艳丽[1] 李树军[2] 李景奎[1] 

机构地区：[1]沈阳航空工业学院机械与汽车学院,辽宁沈阳110136 [2]东北大学机械工程与自动化学院,辽宁沈阳110004

出　　处：《机械设计》2008年第11期29-31,共3页Journal of Machine Design

摘　　要：可重构模块化机器人的构形确定后,找出依序的关节模块、连杆模块。采用局部指数乘积公式和微分运动学公式建立逆运动学数学模型,然后采用牛顿-拉普松迭代法获得数值逆运动学的迭代公式;用M atlab语言建立了逆运动学的用户界面,自动生成逆解说明该方法的可行性。After the configuration of reconstruct-able modularized robot was being determined, the multistaged joint module and connecting rod module were found but. By adopting the partial exponent product formula and differential kinematics formula the inverse kinematics mathematical model was established, and then by adopting the Newton-Raphson iterative method to obtain the numerical inverse kinematics iterative formula. The user＇ s inverse kinematics interface was established by the use of MATLAB, and the reverse solution was automatically generated so as to explain the feasibility of this method.

关 键 词：可重构 模块化机器人 局部指数乘积公式 逆运动学 

分 类 号：TH112[机械工程—机械设计及理论]