摘要
为研究仿人机械臂的运动性能,采用旋量理论对SRU构型仿人机械臂进行正运动学与可操作性分析。首先基于指数积公式对机械臂进行正运动学分析,获得通用的正解解析式;其次基于运动旋量计算机械臂的雅克比矩阵,并通过雅克比矩阵获得机械臂操作空间中任意一点的全局相对可操作度;最后以某六自由度仿人机械臂为算例,对该机械臂进行正运动学和可操作性分析,给出可视化计算结果。
In order to analyze the motion performance of the humanoid arm,the forward kinematics and maneuverability analysis of the SRU humanoid arm were carried out by means of screw theory.Firstly,the forward kinematics of the arm was analyzed based on the product of exponential formula,and the general analytical formula of the forward kinematics solution was obtained.Secondly,the Jacobian matrix of the arm was calculated based on the motion screws,and the global relative maneuverability of any point in the operating space was derived by the Jacobian matrix.Finally,the forward kinematics and maneuverability of a humanoid arm with six degrees of freedom were analyzed,and the visualization results were given.
作者
李文威
周广兵
陈再励
吴亮生
黄炜聪
陈惠纲
Li Wenwei;Zhou Guangbing;Chen Zaili;Wu Liangsheng;Huang Weicong;Chen Huigang(South China Robotics Innovation Research Institute;Guangdong Institute of Intelligent Manufacturing)
出处
《自动化与信息工程》
2018年第5期1-4,9,共5页
Automation & Information Engineering
基金
2018年佛山市军民融合及可持续发展科技项目(2018AG100143)
关键词
仿人机械臂
旋量理论
正运动学
指数积
雅克比矩阵
Humanoid Arm
Screw Theory
Forward Kinematics
Product of Exponential
Jacobian Matrix
