六自由度机械臂运动轨迹自动生成方法仿真与实现  

Simulation and Relization of Motion Trajectory Automatic Generation Method of Six Degrees of Freedom Mechanical Arm

作　　者：余乐 李庆[1,2] 郑力新 朱建清[1,2] YU Le;LI Qing;ZHENG Lixin;ZHU Jianqing(College of Engineering, IIuaqiao University, Quanzhou 3G2021, China;Engineering Research Center of Fujian Province Industrial Intelligent Technology and System IIuaqiao University, Quanzhou 3G2021, China)

机构地区：[1]华侨大学工学院,福建泉州362021 [2]华侨大学工业智能化技术与系统福建省高校工程研究中心,福建泉州362021

出　　处：《华侨大学学报（自然科学版）》2018年第3期355-359,共5页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金青年科学基金资助项目(61602191);福建省厦门市科技计划项目(3502Z20173045);华侨大学研究生科研创新能力培育计划资助项目(1511422005)

摘　　要：运用运动捕捉系统,结合机器人运动学方法,提出一种六自由度机械臂运动轨迹自动生成方法.首先,在运动捕捉系统下得到人手臂末端的Marker标记点的位姿信息;然后,通过数据处理得到标记点的位姿矩阵,并将其作为机械臂末端执行器的位姿矩阵,进而通过数据流通道将该数据传入机器人运动学仿真系统,在仿真系统中运用代数解法求机器人运动学逆解,并进行运动学仿真.最后,将逆解求得的6个关节角度传入机械臂本体,实现机械臂末端执行器按照运动捕捉系统下手臂末端标记点的运动轨迹而运动.仿真实验表明:该方法具有可行性.Using the motion capture system and the robot kinematics method,a six degree of freedom mechanical arm′s motion automatic generation method is proposed.Firstly,the pose information of the marker at the end of the human arm is obtained under the motion capture system,and then obtain the pose matrix of the marker by means of data processing,and used it as the pose matrix of the end effector of the mechanical arm.Then,through the data stream channel,the data is imported into the robot kinematics simulation system.In the simulation system,the algebraic solution is used to solve the inverse kinematics and the kinematics simulation is carried out.Finally,the 6 joint angles obtained from the inverse solution are introduced into the mechanical arm,and the end effector of the mechanical arm is moved according to the trajectory of the marker of the the arm end under the motion capture system.Simulated experiment shows that the proposed method is feasible.

关 键 词：机械臂 六自由度 运动捕捉系统 机器人运动学 运动学仿真 轨迹生成 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]