可重构模块化机器人逆运动学建模

Inverse kinematics modeling for the reconstruct-able modularized robots

可重构模块化机器人的构形确定后,找出依序的关节模块、连杆模块。采用局部指数乘积公式和微分运动学公式建立逆运动学数学模型,然后采用牛顿-拉普松迭代法获得数值逆运动学的迭代公式;用M atlab语言建立了逆运动学的用户界面,自动生成逆解说明该方法的可行性。

After the configuration of reconstruct-able modularized robot was being determined, the multistaged joint module and connecting rod module were found but. By adopting the partial exponent product formula and differential kinematics formula the inverse kinematics mathematical model was established, and then by adopting the Newton-Raphson iterative method to obtain the numerical inverse kinematics iterative formula. The user＇ s inverse kinematics interface was established by the use of MATLAB, and the reverse solution was automatically generated so as to explain the feasibility of this method.