摘要
对SC-8A垂直关节机器人几何结构进行研究,在分析传统关节机器人建模方法的基础上,建立与各连杆固连的坐标系,由此获得连杆的D-H参数并建立机器人运动学模型。着重推导该型机器人的正解和逆解的解析表达式,并针对逆解的多解问题提出筛选方法。用MATLAB对正解和逆解算法进行数值验证,结果表明算法正确。
According to the structure characteristic of the SC-8A manipulator, link frames were established based on ＂the De- navit-Hartenberg Notation＂ after reviewing the traditional methods of robotics modeling. Therefore, D-H parameters were obtained and a robot kinematics model was built. The analytic solutions of forward-kinematics and inverse-kinematics were reasoned, and the proper joint angles were picked out among the multiple solutions of the inverse-kinematics. The result was simulated using MATLAB and the conclusions were correct.
出处
《机床与液压》
北大核心
2013年第9期124-127,共4页
Machine Tool & Hydraulics
基金
中国航天科技集团科技创新基金项目(天科研2010338)
关键词
SC-8A机器人
D—H方法
正解
逆解
SC-8A manipulator
Denavit-Hartenberg method
Forward-kinematics
Inverse-kinematics
