摘要
对机器人正运动学的分析研究是实现控制和轨迹规划的基础。介绍了旋量理论,基于李群李代数和旋量理论建立了RRRP机器人的运动学模型;根据指数积公式进行了机器人运动学正解分析并建立了运动学方程,对比D-H参数法具有更为明确的几何意义和简洁性;利用ADAMS软件进行了运动学仿真,直观的显示了机器人的运动规律,且运动学正解方程得到的结果与仿真数据之间的误差不超过0.05。结果表明:由旋量理论和指数积公式建立的机器人运动学方程的正确性,以及旋量理论应用于类似刚体系统运动学分析的可行性。
Abstract： The research on robot kinematics is the basis of controlling and path planning. Firstly, the screw theory was introduced and the kinematical model of the RRRP robot was built based on Lie group knowledge and screw theory. Then, kinematical positive analysis and relative equations were obtained based on the Product of Exponen tials （POE）. Compared with the traditional DH method, the present method is simpler and has concrete geometry meaning. Lastly, kinematical simulation was done in ADAMS, and it could clearly show the kinematical laws of the robot. The error value between kinematical equation resolution and simulation data did not beyond 0.05. The result tested the validity of kinematical equations based on the screw theory and POE. It was feasibility for the screw theo ry to apply to the kinematical analysis of similar multirigidbody systems.
出处
《机械科学与技术》
CSCD
北大核心
2014年第2期194-198,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省重点学科建设专项资金项目(102-00x903)资助
关键词
机器人
旋量理论
运动学
calculations
computer simulation
computer software
control
errors
kinematics
manipulators
matrix algebra
robots
screw theory
