六自由度组芯机器人逆运动学研究

Research on Inverse Kinematics of 6-DOF Core Assembly Robot

在铸造生产中,组芯机器人逆运动学求解是组芯机器人轨迹规划和实现控制的基础.常规的求解方法是采用D-H矩阵参数法来实现机器人各个关节轴的求解,目前已相对成熟.由于采用该方法存在对机器人几何描述不明确、选取坐标系过多等缺点,所以需要寻求更加简单、明确的方法来实现机器人逆运动学的求解.基于旋量理论求解组芯机器人的逆解可以提高机器人逆运动学求解效率.通过旋量理论建立运动学模型,采用已知的Paden-Kahan子问题联合求解组芯机器人逆问题.通过实例验证该算法可靠性,可以实现组芯机器人运动的精确控制.

In fundry production,inverse kinematics solution is the basis of the robotic trajectory planning and control.D-H method is relatively mature and wide used in kinematics analysis of manipulator.Due to the shortcomings of the geometrical description and coordinates selection,a simpler and clearer method is taken to solve the problem.A novel inverse kinematics based on screw theory will improve the efficiency of the solution procedure.For the kinematics model set up by screw theory,the correctness of the algorithym is verified by core assembly manipulator,whose inverse kinematics was solved by the Paden-Kahan subproblem.It is proved that the algorithm can realize the accurate control.