基于位姿分离法的模块化机械臂逆运动学分析  

Inverse kinematics analysis of modular manipulator by separating attitude from position

作　　者：雷静桃[1] 戴文杰[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《上海大学学报（自然科学版）》2015年第5期588-597,共10页Journal of Shanghai University:Natural Science Edition

基　　金：国家高技术研究发展计划(863计划)子课题资助项目(SS2012AA041604)

摘　　要：分析了7自由度冗余机械臂的运动学正逆解,采用Denavit-Hartenberg(D-H)坐标法进行正运动学建模,获得机械臂末端相对于基座的空间位姿;采用位姿分离法进行逆运动学建模.求位置逆解时,由约束条件分别获得前4个关节角位移解析解;求姿态逆解时,采用欧拉角表示机械臂末端相对于基座的姿态,减少了计算量.以SCHUNK模块化7自由度机械臂为例,进行了运动学正逆解分析,并基于虚拟样机进行了仿真验证.The kinematics for a 7-DOF （degrees of freedom） redundant manipulator is analyzed. The Denavit-Hartenberg （D-H） method is used to analyze forward kinematics. Position and attitude of the end-effector with respect to the base are obtained. Attitude is separated from position in analyzing inverse kinematics. For the position inverse kinemat- ics, angular-displacement of the former four joints is obtained under a constraint condition. For the attitude inverse kinematics, the Euler angles are used to describe attitude of the end-effector with respect to the base. This way, the calculation is reduced. For the modular 7-DOF manipulator produced by SCHUNK, kinematics is analyzed and verified by virtual prototyping simulation.

关 键 词：7自由度 冗余机械臂 逆运动学 位姿分离法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]