基于杆组分析法的平面型串联机械手运动学逆解分析  

Analysis of Kinematic Inverse Solution for a Planar Serial Manipulator Based on Accyp Group Analysis

作　　者：王新珉[1] 罗康[1] 陈志洋[1] 

机构地区：[1]西华大学机械工程与自动化学院,四川成都610039

出　　处：《西华大学学报（自然科学版）》2009年第5期9-12,82,共5页Journal of Xihua University:Natural Science Edition

摘　　要：利用PowerCube可重构机器人模块组装了一个可变异的平面型串联机械手。基于杆组分析法对该机器人进行逆运动学分析,并采用轨迹规划方法对机器人的步态进行了规划。MATLAB软件的仿真结果证明了运动学逆解的合理性,为机器人的步态轨迹控制提供了依据和算法支持。By means of PowerCube reconfigurable robot modules, a structure-variable series planar manipulator is assembled. The inverse kinematic analysis of the manipulator is carried out based on the method of Accyp group analysis. And the trajectory planning is also conducted. At last, the simulation is performed with software MATLAB, and the results obtained confirm the rationality of the inverse kinematic solution, which p.rovides us with a new algorithm in future research on the trajectory control of a robot.

关 键 词：机器人 运动学 杆组分析法 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]