三自由度关节式机械臂轨迹控制研究  

Trajectory Control Research on Three Degree of Freedom Articulated Manipulator

作　　者：陈芳[1] CHEN Fang(Xi’an Aeronautical Polytechnic Institute,Xi’an 710089 China)

机构地区：[1]西安航空职业技术学院

出　　处：《自动化技术与应用》2020年第2期72-76,共5页Techniques of Automation and Applications

摘　　要：本文以三自由度机械臂为研究对象,对其机械部分、运动学和控制部分进行设计和分析,设计了三自由度关节式机械臂的机械结构,在笛卡尔坐标系下采用D-H参数法对每个连杆建立坐标系,根据两个相邻坐标系之间相对位置,采用姿态的齐次坐标变换对机械臂的运动轨迹进行描述,并建立了机械臂运行状态的运动学方程。同时采用齐次坐标变化的方式,对运动学方程进行求解,以得到关节式机械臂运动变化方程。在上述运动学方程构建的基础上,通过高次曲线插补方式完成对运动臂精度的控制。最后对上述的算法进行编程,验证了以上控制方法的可行性。In this paper,the mechanical part,kinematics and control part of the three-degree-of-freedom manipulator are designed and analyzed,and the mechanical structure of the three-degree-of-freedom articulated manipulator is designed.In Cartesian coordinate system,the D-H parameter method is used to establish the coordinate system for each link,according to the relative between the two adjacent coordinate systems.Position,the motion trajectory of the manipulator is described by homogeneous coordinate transformation of attitude,and the kinematics equation of the manipulator is established.At the same time,the kinematics equation is solved by means of homogeneous coordinate change to obtain the kinematics equation of articulated manipulator.On the basis of the above kinematics equation,the accuracy of the moving arm is controlled by high order curve interpolation.Finally,the above algorithm is simulated to verify the feasibility of the above control method.

关 键 词：三自由度 机械臂 轨迹控制 高次曲线 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]