6-DOF机械臂运动学分析和验证

Kinematics analysis and verification of 6-DOF manipulator

为了实现6-DOF机械臂末端的运动控制,利用改进D-H方法推导了机械臂的正运动学齐次变换矩阵,基于齐次变换矩阵,推导出了机械臂的四组运动学逆解,针对运动控制过程中逆解的选取问题,提出了一种基于机械臂初始角的逆解选取方法,并根据解的特性推导出了初始角的可选范围;通过matlab机器人工具箱仿真验证了机器人正逆解以及逆解选取方法的正确性,利用twincat3-机械臂控制系统进行实验,进一步验证了逆解选取方法的正确有效。

In order to realize the motion control of the 6-DOF manipulator,the forward kinematics homogeneous transformation matrix of the manipulator is derived by using the modified D-H method.Based on the homogeneous transformation matrix,four groups of inverse kinematics solutions of the manipulator are derived.Aiming at the problem of selecting the inverse solution in the process of motion control,a selection method based on the initial angle of the manipulator is proposed,and the optional range of the initial angle is derived according to the characteristics of the solutions.The correctness of the selection method of the forward and inverse kinematics of the manipulator are verified by simulation with the robot toolbox in matlab.The twincat3 manipulator control system is used for experiments to further verify the correctness and effectiveness of the selection method of the inverse kinematics.