| 基于位姿分离法的模块化机械臂逆运动学分析 |
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| 引用本文： | 雷静桃,戴文杰. 基于位姿分离法的模块化机械臂逆运动学分析[J]. 上海大学学报(自然科学版), 2015, 21(5): 588-597. DOI: 10.3969/j.issn.1007-2861.2014.02.015 |
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| 作者姓名： | 雷静桃 戴文杰 |
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| 作者单位： | 上海大学 机电工程与自动化学院, 上海 200072 |
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| 基金项目： | 国家高技术研究发展计划(863计划)子课题资助项目(SS2012AA041604) |
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| 摘 要： | 分析了7自由度冗余机械臂的运动学正逆解, 采用Denavit-Hartenberg(D-H)坐标法进行正运动学建模, 获得机械臂末端相对于基座的空间位姿; 采用位姿分离法进行逆运动学建模. 求位置逆解时, 由约束条件分别获得前4个关节角位移解析解; 求姿态逆解时, 采用欧拉角表示机械臂末端相对于基座的姿态, 减少了计算量. 以SCHUNK模块化7自由度机械臂为例,进行了运动学正逆解分析, 并基于虚拟样机进行了仿真验证.
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| 关 键 词： | 7自由度 逆运动学 冗余机械臂 位姿分离法 |
| 收稿时间： | 2013-12-06 |
Inverse kinematics analysis of modular manipulator by separating attitude from position |
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| LEI Jing-tao,DAI Wen-jie. Inverse kinematics analysis of modular manipulator by separating attitude from position[J]. Journal of Shanghai University(Natural Science), 2015, 21(5): 588-597. DOI: 10.3969/j.issn.1007-2861.2014.02.015 |
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| Authors: | LEI Jing-tao DAI Wen-jie |
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| Affiliation: | School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China |
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| Abstract: | The kinematics for a 7-DOF (degrees of freedom) redundant manipulator is analyzed. The Denavit-Hartenberg (D-H) method is used to analyze forward kinematics. Position and attitude of the end-effector with respect to the base are obtained. Attitude is separated from position in analyzing inverse kinematics. For the position inverse kinematics, angular-displacement of the former four joints is obtained under a constraint condition. For the attitude inverse kinematics, the Euler angles are used to describe attitude of the end-effector with respect to the base. This way, the calculation is reduced. For the modular 7-DOF manipulator produced by SCHUNK, kinematics is analyzed and verified by virtual prototyping simulation. |
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| Keywords: | 7-DOF inverse kinematics redundant manipulator separating attitude from position |
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