摘要
为了高效可靠实现工业机器人逆运动学求解,针对常见6自由度工业机器人"后3关节轴线相交,关节2、3轴线平行且与关节1轴线异面垂直"的结构特点,以ABB1410机器人为对象,建立旋量运动学模型,将几何关系法与PadenKahan子问题相结合,提出了一种运动学逆解方法。该方法首先利用机器人腕部点和前3关节轴线之间的几何关系求解关节角1,再将后5个关节角的求解转化为3个Panden-Kahan子问题1和1个子问题2,完整地给出了逆运动学封闭解。通过实验验证了该逆解算法的准确性和实用性。
In order to realize the inverse kinematics of industrial robot efficiently and reliably,an inverse kinematics solution is proposed for common 6 DOF industrial robots with the structure characteristics that can be described as＂the last three joints axes are intersect,joint 2 and 3 are parallel and non co-planar but perpendicular to joint 1＂.Taking the screw kinematics model,the solution is established by using geometry relation method and basic known Paden-Kahan sub-problems. Taking robot of ABB1410 as an example,firstly,the 1 st joint angle is solved by the geometrical relationship between the robot wrist point and first three joint axes,and the rest five joint angles are solved by transforming into three Panden-Kahan sub-problem1 and one sub-problem 2,so that the complete closed form solutions for inverse kinematics are provided. The accuracy and practicality of the algorithm are testified by the experimental results.
出处
《机械设计与制造》
北大核心
2016年第4期190-193,共4页
Machinery Design & Manufacture
基金
江苏省产学研联合创新资金-前瞻性联合研究项目(BY2014005-09)
南京工程学院科研基金项(YKJ201333)
