小型双臂救援机器人的运动学分析与仿真

Kinematic analysis and simulation of small two‑armed rescue robot

根据机器人学导论对机器人的机械臂进行运动学分析。采用D-H(Denavit-Hartenberg)法建立机器人机械臂的连杆坐标系,建立并分析机械臂的正逆运动学模型,给出逆运动学解析解,根据正运动学求解结果使用蒙特卡洛法在MATLAB软件中对机械臂工作空间进行求解,验证了机械臂工作范围满足任务需求。为验证所建立数学模型的正确性,使用MATLAB-Robotic Toolbox根据所建立数学模型编写计算程序,验证了正逆运动学数学模型的正确性。根据机械臂运动过程进行运动规划,得到机械臂各关节变量的变化情况,验证了机械臂轨迹运动的稳定性。

According to the introduction to robotics,the kinematics analysis of the robot arm is carried out.D-H(Denavit-Hartenberg)method is used to establish the connecting rod coordinate system of the robot manipulator,establish and analyze the forward and inverse kinematics model of the manipulator,and give the analytical solution of the inverse kinematics.According to the solution results of forward kinematics,Monte Carlo method is used to solve the workspace of the manipulator in MATLAB,and the working range of the manipulator is verified to meet the task requirements.In order to verify the correctness of the mathematical model established,MATLAB-Robotic Toolbox is used to write calculation programs according to the mathematical model established to verify the correctness of the forward and inverse kinematics mathematical model.According to the motion process of the manipulator,the motion planning is carried out to obtain the variations of the joint variables of the manipulator,and the stability of the trajectory motion of the manipulator is verified.