基于换面法的飞机表面清洗臂逆运动学的几何解

Geometric solutions of inverse kinematics for aircraft surfaces cleaning-manipulator based on surface transformation

为了精确快速求解5自由度飞机表面清洗臂运动学的位置逆解,在采用D-H法求得正运动学的基础上,采用换面法和数值迭代相结合的方法,解决了大臂在同时具有旋转和平移关节时的运动学耦合问题,得到一组适用于D-H坐标的优化位置逆解;并在Matlab中通过数值算例对正、逆解进行互验,证明了几何解的正确性。该方法解决了因自由度多而难于求其运动学逆解的问题,为后续的实时控制提供了依据。

In order to obtain the inverse position solution of kinematics precisely for 5-DOF aircraft surfaces cleaning-manipulator, the direct kinematics got by D-H method, surface transformation and numerical iteration were used to solve the problem of kinematic coupling of manipulator with rotational and translational joints.Then the position solution proper for D-H coordinate system was received. The direct and inverse solutions were mutually verified by Matlab examples to prove the geometric solutions to be valid. The method solves the difficult problem of inverse kinematics due to multi-degree-of-freedom and provides a basis for subsequent real-time control.