三自由度转载机械臂运动学建模及逆运动学求解  

Kinematics modeling and inverse kinematics solution of three degrees of freedom revolving manipulator

作　　者：刘小波 张帅 谢慕君[1] LIU Xiaobo;ZHANG Shuai;XIE Mujun(School of Electrical & Electronic Engineering, Changchun University of Technology, Changchun 130012, China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《长春工业大学学报》2020年第2期128-133,共6页Journal of Changchun University of Technology

基　　金：吉林省科技厅重点攻关项目(20190302086GX)。

摘　　要：针对三自由度转载机械臂各关节的运动特点建立连杆坐标系。采用D-H方法建立了以关节为变量的机械臂运动学模型。采用齐次变换矩阵推导出系统的正运动学方程;采用反变换法求取运动学的逆解。通过运用Matlab软件中Robotics Toolbox进行仿真实验,验证了三自由度机械臂运动学模型及逆解计算的正确性。A coordinate system of connecting rod is established based on the joint characteristics the three-degree-of-freedom revolving robot arm.D-H method is used to build the kinematics model of the manipulator with the joints as variables.We deduce the forward kinematics equation with homogeneous transformation matrix and obtain inverse solution of kinematics with inverse transform method.Simulation based on Robotics Toolbox in Matlab is carried to verify the kinematics model of the three-degree-of-freedom manipulator and the inverse solution calculation.

关 键 词：三自由度转载机械臂 运动学建模 逆运动学 Robotics Toolbox仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]