[1]王立权,刘秉昊,吴健荣,等.6R关节型机器人运动学建模[J].智能系统学报,2010,5(2):156-160.
WANG Li-quan,LIU Bing-hao,WU Jian-rong,et al.Modeling and implementing the inverse kinematics ofa six revolute joint robot[J].CAAI Transactions on Intelligent Systems,2010,5(2):156-160.
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WANG Li-quan,LIU Bing-hao,WU Jian-rong,et al.Modeling and implementing the inverse kinematics ofa six revolute joint robot[J].CAAI Transactions on Intelligent Systems,2010,5(2):156-160.
6R关节型机器人运动学建模
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
5
期数:
2010年第2期
页码:
156-160
栏目:
学术论文—人工智能基础
出版日期:
2010-04-25
- Title:
- Modeling and implementing the inverse kinematics ofa six revolute joint robot
- 文章编号:
- 1673-4785(2010)02-0156-05
- Keywords:
- inverse kinematics; robot; algebraic solution
- 分类号:
- TP241
- 文献标志码:
- A
- 摘要:
- 为满足新开发的多机器人实验系统编程需要，研究了6R机器人运动学逆解问题.推导了代数逆解结果，并研究了将其用于实际控制系统时，逆解的漏解、增根和多解问题.与传统方法比较，采用了便于程序模块化的坐标系设置方式，在需要经常更换作业工具的多机器人系统中更为适用.推导过程只需2次矩阵逆乘，步骤简单.基于VC++和OpenGL技术编制了系统程序，检验了方法的有效性.以其中一个位姿为例，对比几何方法得出的结果，验证了算法的正确性.研究的结果适用于MOTOMANUP6和PUMA560等相似构型的所有机器人.
- Abstract:
- To program a new multirobot system, inverse kinematic equations for a six revolute joint (6R) robot were developed. Their algebraic solutions were then derived. Conditions causing there to be no solution, extraneous roots, or multiple solutions for inverse kinematic equations were studied for equations used in the practical control of a system. Compared with traditional methods, this method is more suitable for a multirobot system in which working tools are frequently replaced. As only two inverse matrices were involved, the method was simple and easy. In order to verify the effectiveness of the method, it was compiled using VC+〖KG-*1/2〗+ and OpenGL software. After selecting a specific position as an example, we proved the correctness of the algorithm by comparing its results to those from geometric analysis. The research is applicable to other robot systems with similar mechanical configurations, such as MOTOMANUP6 or PUMA560.
- 参考文献/References:
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备注/Memo
收稿日期：2008-12-20.
基金项目：黑龙江省自然科学基金重点资助项目（ZD200911）.
通信作者：王立权.E-mail:wangliquan@hrbeu.edu.cn.
作者简介：
王立权，男，1957年生，教授，主要研究方向为机器人技术，在机器人领域发表学术论文26篇。
?刘秉昊，男, 1989年生，主要研究方向为自动化技术.
吴健荣，男, 1982年生，博士研究生，研究方向为机器人技术.
更新日期/Last Update:
2010-05-24