摘要
随着机器人技术的不断发展,机器人在现在社会发展中发挥着越来越重要的作用。文中对实验室研发的多功能4-DOF机器人的运动控制相关问题进行研究。首先对4-DOF机器人的机构整体设计并PROE三维建模,然后通过基于D-H法建立机械臂坐标系,对4-DOF机器人进行运动学正逆解分析,在逆解计算中,提出了当两轴平行两轴耦合的计算方法,即将两轴关节角视为整体计算,再利用代数方法依次得出单个关节角。同时针对机械臂的连续轨迹运动给出轨迹规划的方法,为设计机械臂控制器的实现和机械臂的运动控制提供了依据。
With the continuous development of robotics,robots are playing a more and more important role in social development.This article is mainly to address the robot motion control and related issues from the multifunctional 4-DOF which is invented by our laboratory.After designing the overall structure of 4-DOF robot,a Proe 3D model is built.Then mechanical arm coordinate system is established based on the D-H method to analyze the 4-DOF robot kinematic.In inverse kinematics calculation,the two axis parallel shaft coupling calculation method is introduced.This method regards the two shaft joint angles as a whole to obtain the single joint angle by algebraic tools.At the same time,trajectory planning method is given in view of straight trajectory motion of the mechanical arm based on which the mechanical arm controller design can be accomplished.
出处
《通信电源技术》
2014年第6期19-23,共5页
Telecom Power Technology
基金
中央财政支持地方高校专项资金建设项目2012上理移动读书机器人
关键词
机械臂
位姿
运动学分析
轨迹规划
robot arm
pose position and orientation
kinematics analysis
trajectory planning
