机器人运动学的旋量表述

Screw Representation of the Robotic Manipulator's Kinematics

应用李群知识和旋量理论描述了串联机器人的刚体运动,建立了机器人运动学关系的算法,并利用软件Mathematica进行了算法的实现;选取了具有代表性的串联机器人进行了运动学关系的分析,对算法和程序进行了验证;最后将运动学关系式的旋量指数积方法与传统的D-H参数方法进行了比较分析,从运动学参数的几何描述以及运动学关系式对后期分析的影响2个方面分别阐述了旋量指数积描述方法的优势。

The robotic manipulator＇s rigid body motions were described using Lie groups knowledge and screw theory,established the robotic manipulator＇s kinematics algorithm,and realized the algorithm using Mathematica;the representative robotic manipulator was selected and its kinematics were analyzed,and the algorithm and procedures were verified.Finally,the screw exponential product method of the robotic manipulator＇s kinematics and the traditional D-H parameters method were compared and analyzed,moreover,the advantages of screw exponential product method of the robotic manipulator＇s kinematics were elaborated from two aspects,namely the geometric description of kinematics parameters and the impact of kinematics relations on latetime analysis.