摘要
应用Lie群知识和旋量理论等现代数学工具,描述了机械臂的刚体运动及传递关系。通过指数积公式与关节旋量建立了串联构型机械臂的运动学模型,分析了运动学正解与逆解,并以某型6自由度3P3R温室服务机械臂为例,对运动学算法进行了验证。基于旋量与指数积的运动学算法与D-H参数法等效,但相比之下,几何与物理意义明确,计算过程更简单且无奇异性,更适合机械臂运动控制系统设计需要。
The rigid body motion and transitive relation of manipulator are described by using Lie group knowledge,screw theory and other modern mathematical tools. Kinematics model of tandem configuration manipulator was established,and the positive and inverse solutions of kinematics were analyzed by index product formula and joint screw. The kinematics algorithm was verified by taking one 6 DOF 3P3 R greenhouse service manipulator as an example. The kinematics algorithm based on screw and index accumulation was equivalent to the D-H parameter method,but,in contrast,the meaning of geometry and physical is clearer,calculation process is easier and with no singularity,it is more suitable for the demand of manipulator movement control system design.
出处
《机床与液压》
北大核心
2015年第5期9-12,共4页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(51275479)
浙江省教育厅2012年度科研计划项目(Y201224518)
江苏省精密与微细制造技术重点实验室开放基金项目
关键词
温室服务机械臂
运动学
运动旋量
D-H参数
Service manipulator in greenhouse
Kinematics
Motion screw
D-H parameters
