人脸追踪机械臂的运动学研究

Kinematics Study of Face Tracking Manipulator

自主设计了相邻三轴轴线平行的人脸追踪机械臂,提出了适用该机械结构的运动学逆解算法。用蒙特卡洛法分析协作机械臂的工作空间,结合多组机器人位姿参数并运用Matlab机器人工具箱进行了仿真模拟,统计了逆解算法的计算精度,验证了机械臂运动学正逆解的正确性。根据机械臂物理结构和实际需求定义约束条件,从多重逆解中选出一组作为最优解,并为后续机械臂轨迹规划打下基础。

Being different from the reality, most of the mechanical arms are adjacent to the three-axis axis. The face-traveling robot arm designed in this paper was parallel to the adjacent three-axis axis. Aiming at this feature, a kinematic inverse solution algorithm which is universally adapted to this mechanical structure was proposed. The Monte Carlo method was used to analyze the working space of the cooperative manipulator. Combining the pose parameters of multiple sets of robots and using the Matlab robot toolbox to simulate the simulation, the calculation accuracy of the inverse solution algorithm was calculated, the correctness of the forward and inverse solutions of the kinematics of the manipulator was verified. According to the physical structure and actual requirements of the manipulator, the constraints were defined, and a set of multiple inverse solutions was selected as the optimal solution, which lays a foundation for the subsequent manipulator trajectory planning.