码垛机器人运动学几何解法的研究  

A Study on Geometric Solutions for Palletizing Robot Kinematics

作　　者：郭小宝 赵振 陈落根 

机构地区：[1]杭州娃哈哈集团机电研究院智能装备研究所,杭州310020

出　　处：《装备机械》2015年第4期44-47,共4页The Magazine on Equipment Machinery

基　　金：国家科技重大专项(编号:2011ZX04013-011)

摘　　要：机器人的正向、逆向运动学是机器人运动控制系统与机械系统连接的桥梁,其封闭解问题至今还没有通用的解法,比较通用的是代数方程组的数值迭代算法,通常难以保证实时性和精度要求。基于几何方法通过分析码垛机器人的机构特点简化运动学模型,详细推导正向运动学和逆向运动学解法,推导过程简单、直观。最后通过MATLAB编程和Solid Works三维实体模型运动仿真,验证几何解法的正确性。Forward, inverse kinematics of the robot is a bridge to connect control system and mechanical system for robot motion and currently there is no universal solved process for the closed form solution. Although the numerical iterative algorithm of algebraic equations is in common use, however it is difficult to guarantee timeliness and accuracy requirements. By analyzing the mechanical feature of palletizing robot to simplify kinematics model based on the method of geometry, it is possible to derive detailed solving process for the forward and the inverse kinematics. The derivation process is simple and intuitive. Finally the correctness of the Geometric solution is verified by MATLAB programming and motion simulation of Solid Works 3-D solid model.

关 键 词：码垛机器人 几何解法 正向运动学 逆向运动学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]