旋转机器人手臂奇异位形分析  

Singular Configuration Analysis of Rotating Robot Arm

作　　者：费雄 张宇[1] 孙伟栋 FEI Xiong;ZHANG Yu;SUN Wei-dong(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《软件导刊》2021年第2期90-96,共7页Software Guide

基　　金：云南省科学技术厅重点研发项目(2018BA070)。

摘　　要：对旋转机器人的机械手臂进行奇异位形分析。首先,运用D-H参数方法构建与该机械手臂对应的坐标系图,并建立相应的运动学模型,进而求得其正运动方程;然后,根据机械臂正运动方程构造与之对应的雅可比矩阵,之后对机械臂进行分析,从而求出该机械手臂所有可能出现奇异状态的情形;最后,运用MATLAB ROBOT TOOLBOX对机械手臂的奇异情形进行仿真及验证。分析结果表明,主要存在3种奇异位形,以及3种奇异情形之间的组合情况,不仅预判出所有可能会发生奇异位形的情况,也验证了前期奇异位形求解结果的正确性,为后期机械臂运动路线规划,以及实现对奇异点的规避奠定了基础。The singular configuration of the rotating robot’s mechanical arm is analyzed.In the first step,the method of DH parameters is used to construct a coordinate system diagram corresponding to the robot arm,and the structure is modeled to obtain its positive motion equation,in the second step,according to the previous equation of motion,the corresponding Jacobian matrix is constructed,and then the robotic arm is analyzed according to the obtained Jacobian matrix,so as to find out all the possible singular states of the robotic arm,Finally,MATLAB ROBOT TOOLBOX is used to make simulation and verification of the singular situation of the robotic arm.The analysis results show that there are three kinds of singular configurations and 4 combinations of the three kinds of situations,not only predicting all possible singular configurations,but also verifying the previous singularity.The correctness of the positional solution lays the foundation for the planning of the movement path of the robotic arm and the singularity avoidance analysis in the later period.

关 键 词：机械臂 正运动学 奇异位形 雅克比矩阵 ROBOT TOOLBOX 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]