七自由度模块化机械臂运动学及工作空间分析

Kinematics and Workspace Analysis of Modular Manipulator with Seven Degrees of Freedom

根据标准D-H参数法,建立七自由度单臂运动学模型,求得运动学正解,采用几何法求逆解运动方程,利用MATLAB Robotics Toolbox工具箱搭建仿真平台验算其正确性,建立各模块坐标系,导入MATLAB中生成七自由度工作空间离散图。采用蒙特卡洛法对七自由度模块化机械臂进行工作空间分析,为后续动力学研究、双臂协调控制奠定基础。

In this paper,according to the standard D-H parameter method,a seven-degree-of-freedom single-arm kinematic model is established to obtain the kinematic positive solution.The inverse kinematic equation is obtained by using the geometric method.A simulation platform is built using the MATLAB Robotics Toolbox to verify its correctness,coordinate systems of each module is established,and it is imported into MATLAB to generate the seven-degree-of-freedom workspace discrete diagram.The Monte-Carlo method is used to analyze the working space of the seven-degree-of-freedom modular manipulator,which lays a foundation for the subsequent dynamics research and dual-arm coordinated control.