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针对6自由度串联机器人运动学逆解求解过程复杂、几何意义不明确的问题,提出一种基于几何法和旋量理论相结合的求解方法。基于旋量理论建立机器人的运动学模型,其运动学逆解常采用Paden-Kahan子问题加以求解,但针对前3个关节轴线均不相交的机器人,难以用现有的子问题进行求解。因此,采用一种几何解法进行前3个关节角度的求解。针对后3个关节轴线相交于一点的问题,采用Paden-Kahan子问题进行求解,最终推导出此类机器人运动学逆解的封闭解。以ABB1410机器人为例进行算法验证,验证了此算法的有效性和可行性。
In order to solve the problem of kinematics inverse solution of 6-DOF tandem robot with complex geometry and ambiguous geometric meanings, a solution method based on geometry and spin theory is proposed. The kinematic model of robot is established based on spin theory. The inverse kinematics of the robot is often solved by Paden-Kahan subproblem. However, it is difficult to solve the problem with the existing sub-problems for the first three robots whose axis do not intersect each other. Therefore, a geometric solution is used to solve the first three joint angles. Aiming at the problem that the axes of the last three joints intersect at one point, the Paden-Kahan subproblem is used to solve the problem. Finally, the closed solution to the inverse kinematics of such a robot is deduced. Taking the ABB1410 robot as an example, the algorithm is validated to verify the effectiveness and feasibility of this algorithm.