基于能力地图的机器人模块化手臂构型分析  

Configuration analysis of robot modular arm based on capability map

作　　者：李宪华[1] 张雷刚[1] 宋韬[2] 张军[1] 

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001 [2]上海大学上海市智能制造及机器人重点实验室,上海200444

出　　处：《华中科技大学学报（自然科学版）》2015年第12期17-20,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家高技术研究发展计划资助项目(2007AA041604);安徽省博士后基金资助项目(DG081);上海大学上海市智能制造及机器人重点实验室开放基金资助项目(ZK1304)

摘　　要：分析研究机器人模块化手臂工作空间灵活性问题.首先采用DH法进行手臂结构建模,得到了正运动学模型;而后采用立方体对其工作空间进行网格化处理,得到离散位置,在离散位置球体的均布点上建立坐标系进行姿态离散并建立位姿可达度指标;然后以Matlab为平台,结合机器人工具箱,通过正运动学模型采用随机采样法得到空间离散位置点云,并进行位姿可达度计算,采用可视化方法完成了该手臂工作空间操作能力地图绘制;最后通过分析发现该构型手臂操作能力在其工作空间的分布规律,并对形成原因进行了分析.The dexterity issue for robot modular arm was discussed. Firstly, a forward kinematics model was constructed by using the DH method. Secondly, the workspace was partitioned by cubes, and then the coordinate systems representing the discrete orientations were constructed on uniformly distributed points of spheres, and the position and orientation reachability index was established. Thirdly, the position and orientation reachability index was calculated after the discrete position was obtained using the random sampling method with forward kinematics, and the visualization method was used to plot the robot arm capability map based on Matlab and robotics toolbox. Lastly, the dis- tributive rules of the manipulation capability in the workspace were found, and the causes were ana- lyzed.

关 键 词：机器人手臂 逆运动学 工作空间 离散化 能力地图 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]