[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(02):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(02):156-160.
点击复制

6R关节型机器人运动学建模(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第5卷
期数:
2010年02期
页码:
156-160
栏目:
出版日期:
2010-04-25

文章信息/Info

Title:
Modeling and implementing the inverse kinematics ofa six revolute joint robot
文章编号:
1673-4785(2010)02-0156-05
作者:
王立权1刘秉昊2吴健荣1韩金华1卢正宇1
1.哈尔滨工程大学 机电工程学院,黑龙江 哈尔滨 150001;
 2.哈尔滨工程大学 自动化学院,黑龙江 哈尔滨 150001
Author(s):
WANG Li-quan1 LIU Bing-hao2 WU Jian-rong1 Han jin-hua1 LU Zheng-yu1
1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
逆运动学机器人代数解法
Keywords:
inverse kinematicsrobotalgebraic 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MOTOMANUP6和PUMA560等相似构型的所有机器人.
Abstract:
To program a new multirobot 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 multirobot 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 MOTOMANUP6 or PUMA560. 

参考文献/References:

[1]王奇志,徐心和,尹朝万. PUMA机械手逆运动方程新的推导方法及求解[J]. 机器人,1998,20(2):8187.
WANG Qizhi, XU Xinhe, YIN Chaowan. A new inferential method and efficient solutions for inverse kinematics equations of PUMA robot manipulator[J]. Robot, 1998, 20(2):8187.
[2]王雪松,许世范,郝继飞. MOTOMAN机械手逆运动学方程新的推导方法与求解[J]. 中国矿业大学学报, 2001, 30(1): 7375. 
 WANG Xuesong, XU Shifan, HAO Jifei. New inferential method and efficient solutions for inverse kinematics equations of robot MOTOMAN[J]. Journal of China University of Mining & Technology, 2001, 30(1): 7375. 
[3]陈 平,刘国海. MOTOMANUPJ型机械手运动学改进算法研究[J]. 机械传动, 2006, 30(4), 2327.
 CHEN Ping, LIU Guohai. Study on an improved method in Kinematics for MOTOMANUPJ manipulator[J]. Journal of Mechanical Transmission, 2006, 30(4), 2327.
 [4]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.
 CUI Jianwei, SONG Aiguo, HUANG 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.
[5]CRAIGJ J. Introduction to robotics: mechanics and control[M]. 3th ed. Beijing: China Machine Press, 2005:1100
[6]王立权,吴健荣,刘于珑. 机器人虚拟主手参考结构及关键技术研究[J]. 制造业自动化, 2008, 30(8): 5457.
 WANG Liquan, WU Jianrong, LIU Yulong. Reference architecture and key technologies for virtual masterrobot[J]. Manufacturing Automation, 2008, 30(8): 5457.
[7]孙迪生,王 炎. 机器人控制技术[M]. 北京: 机械工业出版社, 1997:1100.
[8]熊有伦. 机器人技术基础[M]. 武汉: 华中科技大学出版社, 2002: 7375.

相似文献/References:

[1]方勇纯.机器人视觉伺服研究综述[J].智能系统学报,2008,3(02):109.
 FANG Yong-chun.A survey of robot visual servoing[J].CAAI Transactions on Intelligent Systems,2008,3(02):109.
[2]孙宁,方勇纯.一类欠驱动系统的控制方法综述[J].智能系统学报,2011,6(03):200.
 SUN Ning,FANG Yongchun.A review for the control of a class of underactuated systems[J].CAAI Transactions on Intelligent Systems,2011,6(02):200.
[3]蒲兴成,张军,张毅.基于神经网络的改进行为协调控制及其在智能轮椅路径规划中的应用[J].智能系统学报,2011,6(05):456.
 PU Xingcheng,ZHANG Jun,ZHANG Yi.Modified behavior coordination for intelligent wheelchair path planning based on a neural network[J].CAAI Transactions on Intelligent Systems,2011,6(02):456.
[4]李晓飞,刘宏.机器人听觉声源定位研究综述[J].智能系统学报,2012,7(01):9.
 LI Xiaofei,LIU Hong.A survey of sound source localization for robot audition[J].CAAI Transactions on Intelligent Systems,2012,7(02):9.
[5]孙凤池,宋萌,刘光.一种无线传感器信号衰减自适应测距模型[J].智能系统学报,2012,7(03):214.
 SUN Fengchi,SONG Meng,LIU Guang.An adaptive ranging model based on energy distance loss of wireless sensors[J].CAAI Transactions on Intelligent Systems,2012,7(02):214.
[6]孙玉香,曹会彬,冯勇,等.具有拨土功能的轮腿一体化机器人结构设计[J].智能系统学报,2012,7(05):409.
 SUN Yuxiang,CAO Huibin,FENG Yong,et al.Structure design on a legwheeledintegration robotwith an earthmoving function[J].CAAI Transactions on Intelligent Systems,2012,7(02):409.
[7]伍明,李琳琳,李承剑.基于协方差交集的多机器人协作目标跟踪算法[J].智能系统学报,2013,8(01):66.[doi:10.3969/j.issn.1673-4785.201204022]
 WU Ming,LI Linlin,LI Chengjian.An algorithm of multi robot cooperative object tracking based on covariance intersection[J].CAAI Transactions on Intelligent Systems,2013,8(02):66.[doi:10.3969/j.issn.1673-4785.201204022]
[8]肖国宝,严宣辉.一种基于改进Theta *的机器人路径规划算法[J].智能系统学报,2013,8(01):58.[doi:10.3969/j.issn.1673-4785.201208032]
 XIAO Guobao,YAN Xuanhui.A path planning algorithm based on improved Theta * for mobile robot[J].CAAI Transactions on Intelligent Systems,2013,8(02):58.[doi:10.3969/j.issn.1673-4785.201208032]
[9]李大伟,贾鹏飞,李卫国,等.一种基于卡尔曼滤波与模糊算法的变电站机器人组合导航及控制系统设计[J].智能系统学报,2013,8(03):226.
 LI Dawei,JIA Pengfei,LI Weiguo,et al.A kind of integrated navigation and control system design for substation robot based on the Kalman filtering and fuzzy algorithm[J].CAAI Transactions on Intelligent Systems,2013,8(02):226.
[10]裴振兵,陈雪波.改进蚁群算法及其在机器人避障中的应用[J].智能系统学报,2015,10(01):90.[doi:10.3969/j.issn.1673-4785.201311018]
 PEI Zhenbing,CHEN Xuebo.Improved ant colony algorithm and its application in obstacle avoidance for robot[J].CAAI Transactions on Intelligent Systems,2015,10(02):90.[doi:10.3969/j.issn.1673-4785.201311018]

备注/Memo

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