一种串联机器人运动学快速求解方法  

A Fast Solving Method for Series Robot Kinematics

作　　者：刘蕾 

机构地区：[1]安徽埃夫特智能装备有限公司,安徽芜湖241000

出　　处：《自动化仪表》2015年第8期65-68,共4页Process Automation Instrumentation

基　　金：国家高技术研究发展计划(863计划)基金资助项目(编号:2014AA041601)

摘　　要：针对6自由度串联机器人运动学求解出现的选解难、漏解、精度不高等问题,提出了一种几何法和反变换法相结合的求解方法,克服了现有一些运动学分析算法中存在的计算量大、时间长、实时性差等缺点。在多解选择时,采用就近原则和逐级剔除的方法,避免了机器人由于选解不合适导致的飞车现象。这种方法已经在机器人上成功应用。实际结果表明,提出的方法是正确可行的。Aiming at the problems existing in 6-DOF series robot kinematics solving, e. g. , difficulty in selecting solving, miss solving, and low accuracy, etc. , the solving method combining geometric method and inverse transform method is proposed to overcome the disadvantages of some of the existing kinematics analysis algorithms, i. e. , large amount of calculation, longer time, and poor real time performance. In selection of multiple solutions, using methods of proximity principle and sequential extraction, the excessive speed phenomenon of robot under inappropriate selection of solutions can be avoided. The method has been successfully applied in robots. Practical results indicate that the method proposed is correct and feasible.

关 键 词：机器人 运动学 几何法 反变换法 坐标系 

分 类 号：TH85[机械工程—仪器科学与技术] TP242.2[机械工程—精密仪器及机械]