摘要
介绍了机器人逆运动学数值解求解方法,详细分析了基于雅克比逆矩阵与雅克比转置矩阵的数值解原理,并给出在雅克比矩阵为奇异矩阵的情况下机器人运动方程的近似解。以Puma560机器人为例,对Matlab R obotics Toolbox逆运动学库函数进行验证,结果表明ikine6s函数能很好的解决六轴机器人逆运动学,具有较高的精度。
The numerical solution method of inverse kinematics of robot is introduced, and the principle of numerical solution based on Jacobian inverse matrix and Jacobi transpose matrix is analyzed in detail. The approximate solution of the equations of motion of the robot is given when the Jacobian matrix is a singular matrix. Taking Puma560 robot as an example, the Matlab Robotics Toolbox inverse kinematics library function is verified. The results show that the ikine6 s function can solve the inverse kinematics of six-axis robot well and has high precision.
作者
李慧敏
Li Huimin(Mechanical and Electrical Equipment Co.,Ltd.of Datong Coal Mine Group,Datong Shanxi 037001)
出处
《机械管理开发》
2018年第11期53-54,61,共3页
Mechanical Management and Development
