摘要
根据STEP-SA1400型工业机器人的具体结构特点,建立了机器人的运动学方程,使用只需一次矩阵逆乘的逆解方法,求出逆解。与常规求解方法相比,此方法减少了多次矩阵逆乘带来的计算量。在解的表达式中,采用双变量正切函数以避免解的丢失。针对多重解问题,采用"最短行程"原则,选取与当前关节角度值的欧氏距离较小的解作为逆解结果。最后,使用MATLAB编写程序,对文中推导出的方程进行验证与仿真,实验结果证明了解的准确性和可行性。对该型机器人的运动学分析与仿真为其后的离线编程、轨迹规划等打下了基础,同时,文中的方法与思想也适用于其他关节型机器人。
According to the specific structural features of STEP-SA1400 industrial robots the robot kinematics equation is established. The solution method of only once multiplication of inverse matrix is used to find the solution. Compared with traditional methods,this method greatly reduces the amount of computation of the multiplication of inverse matrix. In the expression of the solution,using dual variable tangent function to avoid the loss of solutions. For the multiple solutions problem,the＂shortest distance＂criterion is used,choosing the solution that has the smaller Euclidean distance with the current joint angle values as the result of the inverse solution. Finally,MATLAB is used to program and carry out verification and simulation of the equations. The experimental results show the accuracy and feasibility of the solutions. Kinematic analysis and simulation of the robot lays a foundation for its trajectory planning,at the same time,the methods and ideas are also applicable to other articulated robot.
出处
《微型机与应用》
2016年第5期4-7,11,共5页
Microcomputer & Its Applications
基金
福建省科技厅项目(2013H2002)
华侨大学研究生科研创新能力培育计划资助项目(1400422004)
