大型喷浆机器人的运动学正解研究

Study on Direct Kinematics Problem of the Large Scale Shotcrete-robot

机器人的运动学正解是求解机器人末端位姿、进行轨迹规划的重要依据。对现有机器人运动学正解求解方法进行研究,结合大型喷浆机器人具体特点,使用齐次变换法得到了机器人的运动学正解。使用蒙特卡洛法对机器人的运动学正解进行仿真分析,仿真结果与实际工作空间非常吻合,证明了计算结果的正确性。

Direct kinematics solutions of robot are important for solving its final posture and routine planning.On comparing method solving direct kinematics problem and considering the structure of the large scale shotcrete-robot,the direct kinematics solutions are given by homogeneous transformation based on D-H matrix.Monte-Caro method is applied to simulating the direct kinematics solutions.The simulating result fit the real workspace well,which demonstrate the correctness of our algorithm.