基于迭代算法的六自由度主从异构机器人的位置映射  

Position Mapping of Six-degree-of-freedom Master-slave Heterogeneous Robot Based on Iterative Algorithm

作　　者：解永刚 张建军[1] 戚开诚[1] 王麟 XIE Yonggang;ZHANG Jianjun;QI Kaicheng;WANG Lin(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计与研究》2020年第1期86-90,共5页Machine Design And Research

基　　金：国家自然科学基金(51175144);天津市自然科学重点基金(17JCZDJC40200)资助项目;河北省教育厅科学研究计划重点资助项目(ZD2019052)。

摘　　要：现有基于运动学反变换法的六自由度主从异构机器人映射算法,存在超越函数和存在多解,导致映射算法设计复杂。为改善这一问题,设计了基于LabVIEW的六自由度主从机器人系统,并对主从映射算法和位置跟随误差进行研究。首先选择3-5RUU并联机构和FANUC多功能机器人分别作为主手和从手,并对主从手的构型进行分析;然后采用迭代算法建立系统的映射模型;其次,对从手跟随主手的位置误差进行研究;最后根据主从机器人的映射算法进行实验分析。建模过程与实验结果表明:所设计的映射算法简单有效,该系统可实现从手运动状况的提前验证与实时反馈。The existing six-degree-of-freedom master-slave heterogeneous robot mapping algorithm based on inverse kinematics has a transcendental function and multiple solutions,resulting in complex mapping algorithm design.In order to improve this problem,a six-degree-of-freedom master-slave robot system based on LabVIEW was designed,and the master-slave mapping algorithm and position following error were studied.Firstly,the 3-5RUU parallel mechanism and the FANUC multi-function robot are selected as the main hand and the slave hand respectively,and the configuration of the master-slave hand is analyzed.Then,the iterative algorithm is used to establish the mapping model of the system.Secondly,the position error of the slave following the master is studied.Finally,the experimental analysis is carried out according to the mapping algorithm of the master-slave robot.The modeling process and experimental results show that the designed mapping algorithm is simple and effective,and the system can realize the pre-verification and real-time feedback from the hand movement condition.

关 键 词：六自由度 主从异构机器人 迭代算法 位置映射 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]