基于机械臂的运动学研究与应用  

Kinematics study and application based on robot arm

作　　者：彭圣明[1] 裴海龙[1] 王清阳[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广州510640

出　　处：《机械设计与制造》2011年第7期136-138,共3页Machinery Design & Manufacture

摘　　要：传统的机械臂控制算法都需要进行运动学的正解与逆解。通过这两种方法进行直角坐标和关节坐标两者之间的转换,然后通过关节空间的轨迹规划过程给出各个关节电机的进给量,驱动其运动,完成既定的动作。然而,运动学的正逆解需要进行大量的数学运算。因此不但对硬件要求高,而且花费时间长,影响了实时性。有鉴于此,研究针对后三关节交于一点的六自由度机器人,利用旋量理论建立运动模型,成功实现六自由度机器人的运动控制。Usually arithmetic for traditional manipulator control requires a positive solution and inverse solution for kinematics,through which the conversion between cartesian coordinates and joint coordinates is completed.And then the load of the motor of various joints is provided through path panning process of the joints space to drive its ongoing campaign to complete its action.However,to obtain the positive solution and inverse solution for kinematics,a large number of arithmetical operations is required.Therefore,not only requirement for hardware is high,but also it takes a long time,which may affect the real-time.For this reason,specific to six degrees freedom robot with a post-three joints meeting at one point,by applying the screw theory,a motion model is established and a 6-DOF robot motion control is achieved successfully.

关 键 词：机器臂 运动学 旋量理论 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]