摘要
为提高三分支空间机器人运动学逆解的计算精度和实时性,基于旋量指数积公式及空间雅可比矩阵,对三分支机器人运动学逆解迭代算法进行了研究,建立了通用的逆运动学求解模型.对于具有球腕结构的三分支机器人,给出了位姿解耦形式的简化算法.通过14自由度(DoF)三分支机器人搬运物体仿真试验,验证了在相同轨迹规划条件下,迭代算法比速度控制法具有更高的精确性和实时性.
Based on the screw product of exponentials formula and space Jacobian matrix, a general iterative algorithm on inverse kinematics is proposed for trinal-branch space robot, and its unified solution model is established. As for the trinal-branch robot with spherical wrist configuration, a simplified algorithm can be obtained by the position and orientation decomposition. Through the simulation of carrying a single object by a trinal-branch robot model with the configuration of 14 degree of freedom （DoF）, it is shown that the computation accuracy of proposed iterative algorithm is higher than the velocity control method.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2009年第3期46-49,54,共5页
Journal of Beijing University of Posts and Telecommunications
基金
国家高技术研究发展计划项目(2004AA742101)
关键词
三分支
旋量理论
逆运动学
迭代算法
trinal-branch
screw theory
inverse kinematics
iterative algorithm
