| 7自由度仿人手臂运动学研究 |
| |
| 引用本文： | 时凯飞,李瑞峰.7自由度仿人手臂运动学研究[J].哈尔滨建筑大学学报,2003(7). |
| |
| 作者姓名： | 时凯飞 李瑞峰 |
| |
| 作者单位： | 哈尔滨工业大学机器人研究所，哈尔滨工业大学机器人研究所 黑龙江 哈尔滨 150001，黑龙江 哈尔滨 150001 |
| |
| 基金项目： | 国家高技术研究发展计划资助项目(2001AA422350). |
| |
| 摘 要： | 介绍了服务机器人7自由度仿人手臂运动学分析的方法,对逆运动学求解采用两种方式:一种是将7自由度退化成6自由度来求运动学逆解;另一种是将机器人手臂分成臂和腕两部分,采用位姿分离法来求运动学逆解,体现了冗余度特性.两种方法简化了逆运动学求解,计算量都比较小,适合实时控制.
|
| 关 键 词： | 服务机器人 仿人手臂 运动学逆解 冗余度 |
Kinematics of service robot bionics arm |
| |
| SHI Kai-fei LI Rui-feng Robot Research Institute,Harbin Institute of Technology,Harbin ,China.Kinematics of service robot bionics arm[J].Journal of Harbin University of Civil Engineering and Architecture,2003(7). |
| |
| Authors: | SHI Kai-fei LI Rui-feng Robot Research Institute Harbin Institute of Technology Harbin China |
| |
| Affiliation: | SHI Kai-fei LI Rui-feng Robot Research Institute,Harbin Institute of Technology,Harbin 150001,China |
| |
| Abstract: | The analysis of kinematics on a service robot bionics arm is presented and the kinematics inverse solution for 7-DOF arm is gained in two ways:1) degenerating 7-DOF to 6-DOF,2) dividing the manipulator into arm and wrist.The orientation and the position of spherical wrist are resolved in this way,while the prop- erties of redundancy is kept.Both ways simplify the inverse kinematics with less amount of calculation,and are suitable for real-time control. |
| |
| Keywords: | service robot bionics arm kinematics inverse solution redundancy |
| 本文献已被 CNKI 等数据库收录！ |
