通用和修正D-H法在运动学建模中的应用分析

Application Analysis of Generalized and Modified D-H Method in Kinematic Modeling

通用D-H法在机器人运动学标准建模中虽然已被广泛研究和应用,但其存在一个根本缺陷就是,对于两个相邻的平行关节,通用D-H法得到的齐次变换矩阵将是一个奇异矩阵,不能得到正确的模型,这样便无法对这部分关节运动进行正确的运动分析.而修正的D-H法是正对通用D-H所存在的缺陷进行了改进,保证了模型准确性.本文研究了通用的运动学建模方法 D-H法和该方法的应用缺陷,以及修正的D-H法对通用D-H法存在的缺陷进行的改进,并对修正的D-H法在自由度串联机器人正逆运动学中建立模型的正确性进行了验证.

Generalized D-H method has been widely researched and applied in robot kinematics modeling, but there is a fundamental flaw, which is that the homogeneous transformation matrix obtained by generalized D-H method is a singular matrix, so the model we get is also incorrect, and we cannot analyze correctly. The modified D-H method is improved to avoid the defects of generalized D-H, and to ensure the accuracy of the models. In this paper, the general kinematic modeling method and the application of the D-H method and its＇ defects and the modified D-H method are studied. At last, the correctness of kinematic model established by the modified D-H method in 6-DOF robot is verified.