摘要
随着我国机械手的广泛应用,各类仿生机械臂的出现所带来的控制问题已经成为工业机械臂亟待解决的关键技术。本文以KINOVA jaco26DOF-S超轻量型机械臂为研究对象,基于了位姿分离的思想并采用了几何求逆优化算法解决机械臂运动学解的问题,使用五次多项式插值优化算法完成了机械手臂的空间轨迹规划。综合上述的求解算法,运用MATLAB软件对其算法进行运动学仿真,最终通过对仿真结果的分析表明了本文中所使用的方法能够保证机械手臂平稳快速地达到期望位姿,并为机械臂关节控制研究以及机械臂动力学研究奠定了一定的理论基础。
With the wide application of robot arms in China,the control problems caused by the emergence of various types of robot arms have become the key technology to be solved in industrial robot arms.In this paper,we have studied the kinematic solution of the arm based on the idea of position and attitude separation,taking the KINOVA jaco26DOF-S ultra lightweight manipulator as the research object.We solved the problem of the kinematic solution of the arm by using the five dimensional polynomial optimization interpolation algorithm.The algorithm is simulated with MATLAB software,and the simulation result is analyzed.This method guarantees that the manipulator can reach the desired position and attitude smoothly and quickly.It has laid a constant theoretical basis in arm joint control studies and arm dynamics studies.
作者
张明松
黄滔
ZHANG Mingsong;HUANG Tao(Hubei Key Laboratory of Hydroelectric Machinery Design&Maintenance,China Three Gorges University,Yichang 443002,China;College of Mechanical and Power Engineering,China Three Gorges University,Yichang 443002,China)
出处
《机械》
2022年第6期73-80,共8页
Machinery
基金
水电机械设备设计与维护湖北省重点实验室开放基金(2017KJX01)。
关键词
轻量型机械臂
几何求逆优化算法
轨迹规划
多项式插值
lightweight robot arm
geometric inversion optimization algorithm
trajectory planning
polynomial interpolation
