Inverse kinematic deriving and actuator control of Delta robot using symbolic computation technology  

基于符号计算的Delta机器人快速运动学分析与控制实现(英文)

作　　者：冯李航[1] 张为公[1,2] 林国余[1] 龚宗洋[2] 陈刚[3] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]东南大学苏州研究院,苏州215000 [3]南京理工大学机械工程学院,南京210094

出　　处：《Journal of Southeast University(English Edition)》2014年第1期51-56,共6页东南大学学报（英文版）

基　　金：The National Natural Science Foundation of China(No.51205208)

摘　　要：In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control a description of the linear graph principle for automatically generating kinematic equations in a mechanical system as well as the symbolic computation implementation of this procedure is reviewed and projected into the Delta robot. Based on the established linear graph representation the explicit symbolic expression of constraint equations and inverse kinematic solutions are obtained successfully using a symbolic computation engine Maple so that actuator control and trajectory tracking can be directly realized.Two practical motions the circular path and Adept motion are simulated for the validation of symbolic solutions respectively.Results indicate that the simulation satisfies the requirement of the quick motion within an acceptable threshold. Thus the precision of kinematic response can be confirmed and the correctness of inverse solution is verified.为了有效地导出Delta机器人的解析解并实现运动控制,基于多体机械系统线性图论及其运动方程自动生成技术,将符号计算运用到Delta机器人上.首先建立了Delta机构的线性图解表达,利用符号计算引擎Maple可对图解的约束方程进行数学描述,并最终求得了逆运动解的精确显式表达式,从而可直接地实现驱动控制和运动轨迹跟踪.用平面圆弧和Adept抓放2种实际工程的机械手运动模型,对Delta机器人的符号计算解进行了仿真分析.结果表明,用于Delta机器人驱动控制的符号解误差较小,满足快速运动的需求,从而确认了约束方程的运动学响应精度,并验证了显式符号解的正确性.

关 键 词：delta robot SYMBOLIC COMPUTATION inverse kinematic problems linear graph theory 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]