模块化六自由度机械臂逆运动学解算与验证

Inverse Kinematics Solution and Verification of Modular 6-DOF Manipulator

针对六自由度模块化串联机械臂,进行了正运动学求解,并提出了该种臂型的运动学逆解计算方法。从机械臂的结构特点出发,采用DH法进行结构建模,得到了正运动学模型。在逆运动学求解过程中,针对纯代数法找不到该种臂型的独立不相关变量方程的问题,采用几何方法求解机械臂前3个关节、后3个关节使用反变换法求解,通过给出解的组合原则,得到了该机械臂逆运动学的完整解析解。为满足机器人系统编程和实际控制需要,基于VC++编制了MFC的运动学算法程序,验证了正逆运动学求解的正确性,为机械臂精确定位和运动规划提供了必要的前提条件。

Aimed at 6-DOF modular serial manipulator, forward kinematics was established and an inverse kinematics calculation method was proposed. To the structural characteristics of the manipulator, a forward kinematics model was conducted by using the DH method to describe the workspace. In the process of solving inverse kinematics, because the independent irrelevant variable equation can not be found by the pure algebra method, the geometry method was employed to solving the inverse kinematics of the first three joints, and the last three joints were solved by using algebra method. The complete analytical solution of the inverse kinematics was acquired by giving the combination principle of solutions. In order to meet the need of programming and actual control of robot system, the correctness of forward and inverse kinematics was validated by software developed based on MFC of VC ＋ ＋.