一种八关节串联机器人的运动学解析分析及仿真

Kinematics Analysis and Simulation of a Eight-joint Tandem Robot

多关节机器人运动学分析是研究机器人学的重要内容。多于六自由度的串联机器人运动学因其运动学反解的不唯一性一直是国内外机器人技术研究的重点之一。针对多关节机器人逆运动学反解困难问题,传统大都采用神经网络等优化方法求解,这些方法存在运算量大、准确度低等问题。结合一种实际应用的八关节串联机器人结构和工作特性,提出一种几何法和解析法相结合的多关节机器人逆运动学新算法并进行仿真验证。首先根据机器人结构建立D-H模型并确定机器人结构参数,对机器人正逆解进行分析解算,最后,以Matlab为仿真工具验证解算结果的正确性与准确程度,为冗余自由度串联机器人的改进、设计及应用等方面提供了一种新的思路。

Kinematics analysis of multi-joint robot play an important part in robotics research.Because of the nonuniqueness of its inverse solution,robot kinematics with more than 6 freedom degrees is still the focuses of the research.For the inverse kinematics problem,some optimization methods,like neural network,are mostly used.These methods have many problems such as heavy calculation and low accuracy.In this paper,a new inverse kinematics algorithm based on geometric and analytical methods is proposed and verified by simulation.The D-H model is established according to the robot structure and the structure parameters of the robot are determined.The positive and negative solutions of the robot are analyzed and calculated.Finally,Matlab is used as the simulation tool to verify the correctness and accuracy of the results.It provides a new idea for the improvement,design and application of the robot with more than 6 axises.