大型喷浆机器人的运动学逆问题研究  

Study on Inverse Kinematics Problem of the Large Scale Shotcrete-robot

作　　者：闫成新[1] 

机构地区：[1]中国石油大学(华东)机电工程学院,山东东营257061

出　　处：《组合机床与自动化加工技术》2010年第4期31-33,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家863计划资助项目(8635121602)

摘　　要：机器人的运动学逆解对于控制机器人的末端位姿极为重要。大型喷浆机器人结构上不存在闭链问题,但关节数较多。对现有逆解求解方法进行了对比研究,使用D-H方法建立大型喷浆机器人的杆件坐标系并得到其运动学正解,使用代数法求解其运动学逆解,并用对分法求解一元四次方程,最终求出了喷浆机器人的全部运动学逆解。对逆解方程进行了验证,验证结果表明了算法的正确性。Inverse kinematics solutions are important for controlling endpoint posture of robot. Large scale shotcrete-robot has no closed chain problem but with many joints. The axis of structures of the large scale shotcrete-robot is established and the direct kinematics solutions are obtained by D-H method. On comparing the inverse kinematics solving methods, the inverse kinematics problem is solved by performing algebraic method. Dichotomizing method is used for solving quartic equation and the whole inverse kinematics solutions are obtained. Experimental results demonstrate the soundness of our algorithm.

关 键 词：大型喷浆机器人 运动学 逆解 代数法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]