6R关节型机器人运动学建模  

Modeling and implementing the inverse kinematics of a six revolute joint robot

作　　者：王立权[1] 刘秉昊 吴健荣 韩金华[1] 卢正宇[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《智能系统学报》2010年第2期156-160,共5页CAAI Transactions on Intelligent Systems

基　　金：黑龙江省自然科学基金重点资助项目(ZD200911)

摘　　要：为满足新开发的多机器人实验系统编程需要,研究了6R机器人运动学逆解问题.推导了代数逆解结果,并研究了将其用于实际控制系统时,逆解的漏解、增根和多解问题.与传统方法比较,采用了便于程序模块化的坐标系设置方式,在需要经常更换作业工具的多机器人系统中更为适用.推导过程只需2次矩阵逆乘,步骤简单.基于VC++和OpenGL技术编制了系统程序,检验了方法的有效性.以其中一个位姿为例,对比几何方法得出的结果,验证了算法的正确性.研究的结果适用于MOTOMAN-UP6和PUMA560等相似构型的所有机器人.To program a new multi-robot system, inverse kinematic equations for a six revolute joint （6R） robot were developed. Their algebraic solutions were then derived. Conditions causing there to be no solution, extraneous roots, or multiple solutions for inverse kinematic equations were studied for equations used in the practical control of a system. Compared with traditional methods, this method is more suitable for a multi-robot system in which working tools are frequently replaced. As only two inverse matrices were involved, the method was simple and easy. In order to verify the effectiveness of the method, it was compiled using VC ＋＋ and OpenGL software. After selecting a specific position as an example, we proved the correctness of the algorithm by comparing its results to those from geometric analysis. The research is applicable to other robot systems with similar mechanical configurations, such as MOTOMAN-UP6 or PUMA560.

关 键 词：逆运动学 机器人 代数解法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]