| 遥操作系统中MOTOMAN-SV3X机器人的运动建模研究 |
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| 引用本文： | 崔建伟,宋爱国,黄惟一.遥操作系统中MOTOMAN-SV3X机器人的运动建模研究[J].东南大学学报(自然科学版),2003,33(4):424-429. |
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| 作者姓名： | 崔建伟 宋爱国 黄惟一 |
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| 作者单位： | 东南大学仪器科学与工程系,南京,210096 |
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| 基金项目： | 国家“8 63”计划资助项目 ( 2 0 0 1AA42 3 14 0 ) |
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| 摘 要： | 研究了遥操作系统中MOTOMAN-SV3X机器人的运动学模型及使之通用化的建模方法．首先提出用符合人们习惯的方法规定各机器人关节坐标系的方向，可以使得用Denavit-Hartenberg方法建立的MOTOMAN-SV3X机器人运动学模型有通用性和可移植性；提出当机器人3个相邻且正交的关节轴线交于一点时，逆解运算可以有简捷的运算方法，并用这种方法求得了MOTOMAN-SV3X机器人的运动逆解．最后分析了这种机器人的工作空间．本文所得公式不仅适用于MOTOMAN-SV3X，也可直接移植到与之有相同自由度布局的机器人，而本文的方法则可更广泛地用于各种类型的机器人.
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| 关 键 词： | MOTOMAN－SV3X机器人 运动学 莫托曼机器人 通用模型 遥操作 |
| 文章编号： | 1001-0505(2003)04-0424-06 |
Research on kinematics modeling of MOTOMAN-SV3X robot in teleoperate system |
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| Cui Jianwei,Song Aiguo,Huan Weiyi.Research on kinematics modeling of MOTOMAN-SV3X robot in teleoperate system[J].Journal of Southeast University(Natural Science Edition),2003,33(4):424-429. |
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| Authors: | Cui Jianwei Song Aiguo Huan Weiyi |
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| Abstract: | A kinematical model of MOTOMAN-SV3X robot and an approach of universalization of the modeling in teleoperation system are presented. Firstly, the reference frame directions of robot joint are prescribed according to human habit and this makes MOTOMAN-SV3X kinematical model based on Denavit-Hartenberg rule universal and portable. Secondly, the conclusion is drawn that when three neighboring and perpendicular joint axes intersect at one point, the inverse transformation is very simple. By this method kinematical inverse solution of MOTOMAN-SV3X is calculated. Finally, the MOTOMAN-SV3X workspace is analyzed. Formulas developed in this paper are not only suitable for MOTOMAN-SV3X robot but also able to be migrated directly to the robot system which has the same degree of freedom layout as MOTOMAN-SV3X. Furthermore, the proposed method could be applied to other types of robot. |
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| Keywords: | robot kinematics MOTOMAN robot universal model teleoperate |
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