D-H坐标修正的工业机械手逆运动学研究  

Research on Inverse Kinematics of Industrial Manipulator D-H Coordinate Modification

作　　者：孙伏[1] SUN Fu(School of Mechanical Engineering,Shaanxi University of Technology,Hanzhong 723001,China)

机构地区：[1]陕西理工大学机械工程学院,汉中723001

出　　处：《组合机床与自动化加工技术》2025年第4期37-42,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：陕西省科技厅自然科学基础研究项目(2020JM-600);陕西省自然科学基础研究计划项目(2023-JCYB-018);陕西理工大学教改项目(XJG2203)。

摘　　要：针对某6R机械手构型的逆运动学解析解求解难题,提出了一种D-H坐标修正方法,可快速求出逆解,研究了连续轨迹控制中的轨迹规划问题。以IRB2600机械手为例,首先建立标准D-H坐标,绘制工作空间,确认各关节转角范围,进行机械手运动学分析,然后提出D-H坐标修正方法,结合欧拉角选择机械手初始位置,进行逆运动学分析,导出逆解解析式,并建立唯一解的优化模型。在轨迹规划实例中,分析轨迹任务的可达性,在直角空间增加路径点,应用逆解解析式将路径点转化为关节角位移,雅可比逆矩阵将速度转化为关节转速,以三次多项式实现轨迹规划。最后采用Robotics Toolbox对轨迹规划结果进行仿真,通过轨迹验证和误差分析,验证了轨迹规划的合理性。研究对机械手的轨迹规划,特别是逆运动学求解具有借鉴意义。In order to solve the inverse kinematics of a 6R manipulator configuration,a method for correction D-H coordinates is proposed,which can quickly find inverse solutions.The trajectory planning problem in continuous trajectory control is studied.Taking IRB2600 manipulator as an example,Firstly,the standard D-H coordinates are established,the workspace is drawn,the range of rotation angle of each joint is confirmed,and the kinematics of the manipulator is analyzed.Then,the D-H coordinate correction method is proposed,the initial position was selected based on euler angle.The inverse kinematics analysis is carried out,and the analytic formula of the inverse solution is derived,and the optimization model of the unique solution is established.In an example of trajectory planning,analyze the reachability of trajectory tasks,add path points in the right-angle space,convert the pose into the joint angular displacement by the formula,and convert the velocity into the joint rotational speed by the Jacobi inverse matrix,and the trajectory planning is realized by cubic polynomial interpolation.Robotics Toolbox was used to simulate the trajectory planning results,and the rationality of trajectory planning was verified through trajectory verification and error analysis.The research is of reference significance for trajectory planning of manipulator,especially for solving inverse kinematics.

关 键 词：逆运动学 D-H坐标 修正 欧拉角 轨迹规划 

分 类 号：TH165[机械工程—机械制造及自动化] TG569[金属学及工艺—金属切削加工及机床]