| 并联机器人正运动学与NURBS轨迹规划 |
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| 引用本文： | 张皓宇,刘晓伟,任川,赵彬. 并联机器人正运动学与NURBS轨迹规划[J]. 机械设计与制造, 2021, 0(4): 282-286,292. DOI: 10.3969/j.issn.1001-3997.2021.04.064 |
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| 作者姓名： | 张皓宇 刘晓伟 任川 赵彬 |
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| 作者单位： | 辽宁省气象信息中心,辽宁 沈阳 110168;沈阳新松系统自动化股份有限公司,辽宁 沈阳 110168;东北大学信息科学与工程学院,辽宁 沈阳 110819 |
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| 基金项目： | 沈阳市工业科技攻关项目;国家高技术研究发展863计划 |
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| 摘 要： | 并联机器人是一种具有高载荷自重比的封闭式运动结构,针对并联机器人运动控制和NURBS轨迹问题进行了深入的研究,首先从并联机器人的逆运动学问题进行了解析方法的求解.其次,针对正运动学(FKP)在数学上是难以解决问题,提出了一种多层感知器进行反向传播学习的神经网络进行实时求解.再次,开发了基于NURBS的通用插补器,它可以...
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| 关 键 词： | 并联机器人 NURBS曲线 运动学 神经网络 |
Forward Kinematics Control and NURBS Trajectory Planning for Parallel Robots |
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| ZHANG Hao-yu,LIU Xiao-wei,REN Chuan,ZHAO Bin. Forward Kinematics Control and NURBS Trajectory Planning for Parallel Robots[J]. Machinery Design & Manufacture, 2021, 0(4): 282-286,292. DOI: 10.3969/j.issn.1001-3997.2021.04.064 |
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| Authors: | ZHANG Hao-yu LIU Xiao-wei REN Chuan ZHAO Bin |
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| Affiliation: | (Researcher Level Senior Engineer of Meteorological Information Center,Liaoning Shenyang110168,China;SIASUN Robot&Automation Co.,Ltd.,Liaoning Shenyang110168,China;School of Information Science&Engineering,Northeastern University,Liaoning Shenyang110819,China) |
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| Abstract: | Parallel robot is a closed motion structure with a high load to weight ratio.In this paper,the motion control of parallel robot and NURBS trajectory are studied in depth.Firstly,the inverse kinematics of parallel robot is solved by analytical method.Secondly,the forward kinematics(FKP)is difficult to solve mathematically,this paper proposes a multi-layer perceptron back-propagation learning neural network for real-time solution.Thirdly,a universal interpolator based on NURBS is developed,which can handle any type of geometric shapes to make the robot’s trajectory smooth.Finally,the correctness of kinematics and NURBS curves for solving parallel robot model is verified by experiments.The accuracy of position and direction parameters of this strategy is close to 0.01mm and 0.01°respectively in few iterations and few execution time,which verifies the effectiveness and correctness of the algorithm. |
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| Keywords: | Parallel Robot NURBS Curve Kinematics Neural Network |
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