摘要
国内对于核电站蒸汽发生器接管焊缝检测仍处于人工阶段,需要设计检测机器人来代替工人。目前正在研发一款焊缝检测机器人,其检测机械臂系统具有8个自由度,无法用常规的解析法进行逆运动学求解。数值法即通过非线性最小二乘法迭代求得运动学逆解。该方法需要使用雅可比矩阵和正运动学,对雅可比矩阵和正运动学的求解方法作了简单的介绍。然后在V-REP软件中导入模型,编写脚本程序进行仿真验证。仿真结果表明该方法可行,并基于该方法尝试了简单的路径规划。
At present, the inspection of connecting weld on steam generator ( SG) is still in the artificial stage. So, the weld-inspection robot should be designed to replace the workers. Now a weld?inspection robot is being developed. In this paper, the inverse kinematics solution of an 8 - DOF weld?inspection robot arm is studied. It cannot be solved in analytical method , so the Jacobian transpose method is used to solve the inverse kinematics. The calculation of Jacobian matrix is introduced because Jacobian matrix will be used in the method. Then , the 3D model of the robot is imported into V - REP , a kind of simulation software, to verify this method of solving inverse kinematics. According to the simulation result, this method is feasible. After that, some simple path planning is attempted on the basis of this method.
出处
《机电一体化》
2018年第11期12-17,共6页
Mechatronics
关键词
冗余机械臂
逆运动学求解
雅可比矩阵
路径规划
redundant robot arm
inverse kinematics solving
Jacobian matrix
path planning
