基于四元数的6R串联机器人运动学逆解应用

Application of Inverse Kinematic of 6R Series Robot Based on Quaternion

针对6R串联机器人运动学求解计算量大、传统方法求解困难以及涉及多解和奇异性等问题,在普吕克坐标系(Plücker Coordinate)下描述了刚体运动,建立刚体运动的四元数数学模型,进一步建立了6R串联机器人运动学几何数学模型,从而可以方便的求得6R串联机器人8组运动学逆解。最后,以一种串联机器人为例,利用Matlab/Simulink模型进行算法计算,最后用Matlab/robot toolbox进行结果验证。与传统方法相比,采用该方法求解串联机器人运动学,计算简洁、精度高、具有普遍通用性,有利于改善计算机控制的实时性。

For the calculating of 6R series robot kinematics is an arduous task , it is hard to deal with the multiple solutions and the singularity problem in the way of traditional method to calculating of 6R series robot kinematics , this paper describes the rigid body motion in PlUcker coordinate, establishes the rigid body motion of the mathematical model based on quaternions , further establishes 6R serial robot kinematics geometry mathematical model, which can be easily to solve the 6R serial robot inverse kinematics and get the 8 group＇ s conclusions . By the presented method, the inverse kinematics of a serial mechanism is given as an example. The results show that compared with traditional methods, the method is simple, high accuracy, of universal used, will do work to improve the real-time computer control.