全闭环伺服机器人正运动学的研究

Research about Direct Kinematics of Full Close-loop Servo Control Robot

对于在各关节上采用编码器的伺服控制的机器人,虽然结构简单,但是由于各关节实际响应的结果与编码器反馈存在误差,所得的末端位姿的精确位置难以确定。为此,在很多场合下,都希望通过某种外部位姿直接给定手臂末端位姿的运动,实现机器人全闭环的伺服控制,但是由于牵扯到坐标系的变换,通常的基于关节伺服的齐次坐标变换矩阵无法直接使用,本文作者给出一种数学方法,利用该方法,可方便地推导各种坐标系间的变换矩阵,并且给出了全闭环伺服系统的正运动学及其研究方法。

The servo control of robot based on the encoder on the joint has a sample structure,but the actual response of every joint has a small difference with the encode value,so the precise position of the end of the robot is difficult to determine. For this reason,in many situations,the precise motion of the end of the robot arm was expected to get directly in certain methods from external position,so as to realize the full close-loop servo control of the robot,however,due to the coordinate transform concerned,the traditional method was not able to be applied to it directly based on homogeneous coordinate transform matrix of the servo joints. A mathematical method is given for using,which can easily deduce all kinds of coordinate transform matrix,and give the direct kinematics of full closeloop servo control system and its research method.