PUMA机械臂的逆运动学解耦分析及仿真

Inverse Kinematics Decoupling Analysis and Simulation of PUMA Manipulator

机器人运动学分析是实现机器人自动化控制的重要方向,尤其是对于工业机械臂的逆运动学分析,由于算法结构复杂、计算量大等不足,对工业机械臂的实时性控制造成了很大的影响。针对这一点,以工业常见的PUMA型机械臂为研究对象,提出一种将机械臂运动解耦为手臂及手腕的逆解分析方法,通过系数变换、欧几里得范数计算,坐标矢量变换等方法求出机械臂的逆运动学解,最后通过实际值代入与MATLAB仿真,验证了解耦算法的可行性。

Robot kinematics analysis is the important way of realizing robot automation control,especially for industrial manipulator inverse kinematics analysis,due to the complicated algorithm structure,lack of a large amount of calculation,on industrial mechanical arm of the real-time control caused a great impact.At this point,with common industrial PUM A type manipulator as the object of study proposed a will manipulator motion decoupling for arm and wrist inverse analysis method,through the calculation of the transform coefficients,Euclidean norm,coordinate vector transform method for manipulator inverse kinematics solution.Finally,the actual values are substituted with the M ATLA B simulation to verify and assess the feasibility coupling algorithm.