欠驱动单机械臂的运动学研究

本文以平面内转动关节连接的单机械臂为研究对象,针对其运动学以及单臂的控制原理进行研究.首先利用机器人数学基础,推导出单臂机器人的运动学递推方程,讨论了其正运动学变化矩阵以及求解雅克比矩阵.然后,以单臂3R欠驱动机械臂为研究对象,对其位置控制进行研究,提出了一种分阶段控制欠驱动机械臂的新方法.控制目的为实现操作臂末端点到达目标位置,由此实现了平面内3自由度欠驱动机械臂的位置控制.

Kinemics research of single-arm robot with a passive joint

This paper is based on the single degree of freedom rotational joints of single-arm planar robot as the research object, the kinematics and control principles of main arm were studied. First, by using the robot mathematical foundation, the kinematical equations of single arm robot articulated with rotational joints are deduced. The robot＇s forward kinematics and Jacobian matrix＇s solving are discussed. Then take the main arm in planar 3R under-actuated robot as research object to study on the position control. Put forward a new method for control of under-actuated robot in stages. Control purpose for the realization of the end point of the operating arm is getting the target position, thus achieving a plane 3-DOF under-actuated manipulator＇s control principles.