码垛机械手运动学分析

Kinematics analysis of stacking manipulator

以自行研制的码垛机械手为分析对象,运用D-H法建立机械手的运动学数学模型,进行正、逆向运动学分析,分别得出了操作臂末端在基坐标系下的位置关系式和各关节的参数变量;最后根据机械手末端速度与关节变量速度之间关系分析,得出机械手的雅可比矩阵和逆雅可比矩阵。

Based on D-H method, the kinematics model of the stacking manipulator made by myself is established and its forward and inverse kinematics are analyzed. The kinematics equation to describe the end of manipulator in the basis coordiriate and the parametric variation for each joint are given, respectively. And the Jacobian and inverse Jaeobian of the manipulator is got by analyzing the relationship between the end speed and the joint variable speed.