凿岩机器人线性近似解耦—迭代法运动学求逆  

Linear decoupled and iteration algorithm for solving inverse kinematics problem of rock-drilling robot

作　　者：周亮[1] 谢习华[1] 周宏兵[1] 龚艳玲[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《凿岩机械气动工具》2001年第4期29-33,共5页Rock Drilling Machinery & Pneumatic Tools

基　　金：国家 8 6 3计划基金资助项目 (86 3- 5 12 - 980 6 - 0 1)

摘　　要：多关节运动耦合型机械手的运动学求逆 ,是个相当复杂的问题 ,也是机器人学理论中必须解决的相当重要的实际问题。本文针对具有 6个旋转关节、 3个平移关节的凿岩机器人机械手 ,提出线性近似解耦模型 ,用迭代法求解运动学反解 ,在系统仿真中得到了反复验证 ,并在国内首台隧道凿岩机器人控制系统中应用 ,能满足该系统的精度要求与实时性要求。The inverse kinematics problem of multi-joint manipulator with derived motion is an essential and complex problem in robotics.In this paper,an approximate linear decoupled model is introduced for the rock-drilling manipulator with 6 rotary joints and 3 prismatic joints,and iteration algorithm is used to solve the inverse kinematics problem.The method is validated by a simulative system,and is used in the real control system.The results are satisfied with.

关 键 词：机器人 隧道凿岩机器人 运动学反解 

分 类 号：O241.6[理学—计算数学]