一般6R机器人的位置反解与运动仿真

Inverse Kinematic Analysis or General 6R Serial Robot and Motion Simulation

在建立D—H矩阵空间位移封闭方程的基础上,结合理论分析找出10个运动学方程,通过结式消元得到没有增根也无漏根的一元十六次方程。反解结果在机器人的运动仿真中加以验证,为进一步应用创造了条件。仿真过程采用OpenGL进行三维实体造型,通过文件传输及数据交互实时显示机器人的运动情况,使使用者直现了解机器人在整个运动过程中的位姿,为进一步进行轨迹规划和误差补偿的研究与验证等问题提供了良好的平台。程序中采用尺寸链驱动,使机器人的结构尺寸可变,从而使其应用范围进一步扩大,尤其适用于模块化机器人。

In this paper, 10 kinematic equations areobtained to solve the inverse kinematic problem of a gen-eral 6R serial robot. It is shown that these equations canbe reduced to a 16--order polynomial equation in one un-known. The results were verified by motion simulationand can be used for further applications. OpenGL wasapplied to make the solid model in the simulation and themotions were displayed based on files transfer and dataexchanges between programs. Thus the users can ob-serve positions and orientations of the robot clearly, andthe program can be used in other robot problems such aspass planning, calibrations and so on. Dimensions of therobot can be changed easily, so its applications are rela-tively spread.