六自由度模块化机械臂的逆运动学分析  

Inverse kinematics analysis for 6 degree-of-freedom modular manipulator

作　　者：姜宏超[1,2] 刘士荣[2] 张波涛[1,2] 

机构地区：[1]华东理工大学自动化研究所,上海200237 [2]杭州电子科技大学自动化研究所,浙江杭州310018

出　　处：《浙江大学学报（工学版）》2010年第7期1348-1354,共7页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(60675043);浙江省科技计划资助项目(2007C21051);杭州电子科技大学科研启动基金资助项目(KYS09150543)

摘　　要：针对自主研发的六自由度(DOF)模块化机械臂,提出一种逆运动学求解方法.根据机械臂的结构特点和运动学约束,对机械臂的运动学进行分析.建立该类型机械臂的正运动学模型,得到了机械臂逆运动学的完整解析解.采用Denavit-Hartenberg(D-H)法对机械臂操作空间进行描述,在考虑机械臂运动学约束的基础上,得到以关节角度为变量的正运动学模型.通过分析正运动学模型的可解性,采用矩阵逆乘的解析法求解机械臂的正运动学模型,得到了该类机械臂逆运动学的完整解析解.通过仿真验证了正运动学模型及运动学逆解的正确性,运动学逆解可以用于机械臂末端执行器的精确定位和运动规划.An inverse kinematics procedure was proposed aimed at the developed 6 degree-of-freedom（DOF） modular manipulator.The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematic constraint.A forward kinematics model of the maniputor was conducted,and the complete analytical solution of the inverse kinematics was obtained.The Denavit-Hartenberg（D-H） method was used to describe the workspace of the manipulator,resulting in the forward kinematics model with angle variables under the kinematic constraint of the manipulator.The solvability of the forward kinematics model was analyzed.Then the complete analytical solution of the inverse kinematics can be acquired by solving the forward kinematics model with the inverse matrix analysis.Simulation results verified the correctness of the forward kinematics model and the inverse kinematics solution.The inverse kinematics results can be further used for the precise location of end-effector and the motion planning.

关 键 词：模块化机械臂 正运动学 逆运动学 完整解析解 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]