旋量理论下的机器人运动学求解

Solution of Robot Kinematics Based on Screw Theory

研究和分析了六自由度关节机器人的结构,并基于旋量理论对下建立了6R工业机器人的运动学模型,采用了臂、腕分离法求出了该机器人的正逆运动学的解析表达式,采用Paden-Kahan子问题法直接求解关节机器人运动学问题的方法,与传统的D-H参数坐标法相比较,消除了用局部坐标系描述时产生奇异性的问题,最后在Matlab环境运用仿真,实现该机器人的正运动学、逆运动学和仿真,也为后续机械臂的轨迹规划提供了一个良好的开端。

This paper studies and analyzes the structure of the six degrees of freedom robot joints based on screw theory and the 6R industrial robot kinematics model is established,using the arm and wrist separation method and can get the analytical expression of inverse kinematics of the robot.This paper adopts Paden-Kahan sub-problem method for solving joint robot kinematics problem directly,compared with the traditional D-H parameters coordinate method.