摘要
根据自主研发的五自由度(DOF)排爆机械臂的结构特点和运动学约束,对机械臂的运动学进行分析,建立五自由度机械手臂正、逆运动学方程,准确快捷地求出了运动学方程封闭解析解,给出了机器人运动构件与末端执行器在空间的位姿关系;并求出其雅可比矩阵,通过速度仿真验证了机械臂联动策略,提高了排爆机械臂的操作效率和排爆作业精细程度。
The kinematics of the manipulator was analyzed according to the structural characteristics and kinematic constraint aimed at the developed 5 degree-of-freedom explosive ordnance disposal （EOD） manipulator. The kinematics and inverse kinematics equations of the 5 - DOF manipulator were established based on this coordinate system. The inverse kinematics equation＇s analytical solution was calculated fast and precisely. The positions of its moving elements and end-effectors with their relationship were presented. Then the Jacobian matrix was solved. Finally, the linkage strategy of the manipulator is verified by velocity simulation and improves the operational efficiency of the EOD robot and the precision of EOD operation.
出处
《机电一体化》
2017年第8期16-22,共7页
Mechatronics
关键词
D-H法
雅可比矩阵
速度控制
联动策略
D- H method Jacobian matrix velocity control linkage strategy
