六自由度模块化机械臂的逆运动学分析

针对自主研发的六自由度(DOF)模块化机械臂,提出一种逆运动学求解方法.根据机械臂的结构特点和运动学约束,对机械臂的运动学进行分析.建立该类型机械臂的正运动学模型,得到了机械臂逆运动学的完整解析解.采用Denavit-Hartenberg(D-H)法对机械臂操作空间进行描述,在考虑机械臂运动学约束的基础上,得到以关节角度为变量的正运动学模型.通过分析正运动学模型的可解性,采用矩阵逆乘的解析法求解机械臂的正运动学模型,得到了该类机械臂逆运动学的完整解析解.通过仿真验证了正运动学模型及运动学逆解的正确性,运动学逆解可以用于机械臂末端执行器的精确定位和运动规划.

Inverse kinematics analysis for 6 degree-of-freedom modular manipulator

An inverse kinematics procedure was proposed aimed at the developed 6 degree of freedom (DOF) modular manipulator. The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematic constraint. A forward kinematics model of the maniputor was conducted, and the complete analytical solution of the inverse kinematics was obtained. The Denavit Hartenberg (D H) method was used to describe the workspace of the manipulator, resulting in the forward kinematics model with angle variables under the kinematic constraint of the manipulator. The solvability of the forward kinematics model was analyzed. Then the complete analytical solution of the inverse kinematics can be acquired by solving the forward kinematics model with the inverse matrix analysis. Simulation results verified the correctness of the forward kinematics model and the inverse kinematics solution. The inverse kinematics results can be further used for the precise location of end effector and the motion planning.