体育器材用多自由度机械臂运动轨迹控制方法  

Motion Trajectory Control Method of Multi-degree Freedom Manipulator for Sports Equipments

作　　者：张晓光[1] ZHANG Xiaoguang(Xi′an Fanyi University,Xi′an 710105,China)

机构地区：[1]西安翻译学院,陕西西安710105

出　　处：《机械制造与自动化》2023年第2期157-161,共5页Machine Building & Automation

基　　金：2020年度西安翻译学院教育教学改革研究项目(J20A07)。

摘　　要：为增加体育训练的实用性和器材耐用程度,减少人力、物力资源消耗,降低受机械冲击产生的影响,提出一种应用在体育器材上的多自由度机械臂运动轨迹控制方法。分析关节转动的弧度,建立机械臂运动轨迹模型,依据模型内参数值求解各关节齐次变换矩阵,从正解和反解两个角度解析末端执行器位姿、固定关节坐标点,建立两者间的映射关系;以“353”多项式插值算法,确定关节速度、加速度和位置,实现最优轨迹控制。仿真分析证明:采用该方法的体育器材用多自由度机械臂运行轨迹更平滑、稳定性更高。In order to increase the practicability of sports training and the durability of equipment,reduce the human and material resource consumption and the impact caused by mechanical strike,a motion trajectory control method of multi-degree of freedom manipulator applied to sports equipment is proposed.By analysis of radian of joint rotation,the motion trajectory model of the manipulator is built.The homogeneous transformation matrix of each joint is solved according to the internal parameters of the model.And from the perspective of forward solution and inverse solution,the position and attitude of the end effector and the fixed joint coordinate points are analyzed,between which the mapping relationship is established.With"353"polynomial interpolation algorithm,the joint velocity,acceleration and position are determined to realize the optimal trajectory control.Simulation results show that the running track of the multi-degree of freedom manipulator for sports equipment by the proposed method tends to be smoother and more stable.

关 键 词：多自由度机械臂 运动学正解和反解 多项式插值 体育器材 齐次变换矩阵 

分 类 号：TH164[机械工程—机械制造及自动化]