救援机器人操作臂的运动学分析与仿真

Kinematics Analysis and Simulation of A Rescue Robot Manipulator

救援机器人作为灾难救援高效的辅助工具,可以进入灾难环境,借助安装于其上的操作臂和传感器完成收集环境信息、运输紧急物资等任务。设计了一种六自由度救援机器人操作臂,将固定关节法及梯度投影法相结合,提出了操作臂逆解计算的优化方法,并进行了轨迹跟踪仿真分析。该法可大大提高逆解计算效率和轨迹跟踪精度。

As an efficient auxiliary tool for disaster rescue, the task of collect information and transport the emergency suppliers can be completed by rescue robot with the help of its manipulator and sensor in the disaster environment. A six--DOF rescue robot manipulator is designed. By combi- ning the fixed joint method and the gradient projection method, an optimization method for calculating the inverse kinematics of the manipulator is proposed. And the trajectory tracking simulation analysis is carried out. The computing efficiency and trajectory tracking precision can be greatly enhanced by this method.