巡线机器人机构的运动学反解与仿真  

Inverse Kinematic Solution and Simulation of Inspection Robot Mechanism

作　　者：李三平[1] 吴功平[2] 肖晓晖[2] 

机构地区：[1]东北林业大学,哈尔滨150040 [2]武汉大学

出　　处：《东北林业大学学报》2009年第12期115-121,共7页Journal of Northeast Forestry University

基　　金：国家"863"项目(2005AA420060-1)

摘　　要：分析巡线机器人机构的位置和姿态结构特点,建立该机构的各连杆坐标系,并在此基础上建立运动学方程。根据末端执行器位置矢量和姿态转换矩阵,采用反变换法求解该机器人机构的运动学反解,并运用计算机仿真的方法进一步验证了该反解的准确性。The feature of the position and pose structure of inspection robot is analysed, and a coordinate system for each link is also established. Based on this, kinematic equations are constructed. An inverse kinematic solution is achieved by means of the inverse transformation method according to the position vector and position transformation matrix. The computer simulation results show that the inverse solution is accurate.

关 键 词：巡线机器人机构 运动学方程 运动学反解 计算机仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]