7自由度自动铺丝机器人参数化的自运动流形

Parameterized Self-motion Manifold of 7-DOF Automatic Fiber Placement Robotic Manipulator

提出了一种分析冗余自由度机器人运动学逆解的自运动流形方法。对冗余自由度机器人工作空间中的点,根据关节空间流形和工作空间流形之间的映射关系,采用点的自然坐标作为独立的运动参数来分析冗余自由度机器人的自运动流形,然后把所提出的方法应用到7自由度自动铺丝机器人的自运动流形分析中,得出7自由度自动铺丝机器人的自运动流形。把采用参数化分析方法得到的7自由度自动铺丝机器人的自运动流形曲线和采用数值方法得到的自运动流形曲线进行对比,结果发现,采用参数化的分析方法得到的自运动流形曲线和采用数值方法得到的自运动流形曲线高度吻合,所以采用参数化的分析方法来求解冗余自由度机器人的自运动流形,是求解冗余自由度机器人运动学逆解的一种有效方法。

An approach, which analyzed the redundant robotic manipulator＇s inverse kinematics based on self-motion manifold, is presented. For the points in redundant robot＇s workspace, according to the mapping relation between the joint space manifold and the workspaee manifold, the natural coordinates of points are taken as independent motion parameters to analyze the self-motion of redundant robot, this method is applied to analyze the self-motion of the 7-DOF automatic fiber placement robotic manipulator, the self-motion manifold of 7-DOF automatic fiber placement robotic manipulator is obtained. The self-motion curves of 7-DOF automatic fiber placement robotic manipulator derived by parameterized and numerical methods are compared; the results show that the self-motion curves of 7-DOF automatic fiber placement robotic manipulator derived by these two methods are highly consistent, therefore the parameterized method that is used to analyze the self-rnotion manifold of the redundant robotic manipulator is an effective approach to resolve the inverse kinematics of the redundant robotic manipulator.