| MOTOMAN-UPJ型机械手运动学改进算法研究 |
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| 引用本文： | 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. |
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| 作者姓名： | 陈平 刘国海 |
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| 作者单位： | 江苏大学电气信息工程学院,江苏,镇江,212013;江苏大学电气信息工程学院,江苏,镇江,212013 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 根据MOTOMAN-UPJ型机器人具体的结构特点,推导出机器人的正逆运动学公式.提出只需要一次矩阵逆乘的逆解算法.与传统方法相比,大大减少了计算运动方程逆解的计算量.针对逆解中有时有几组不是真解的问题,讨论各位置参数的取值对逆解结果的影响,明确了逆解角度求解公式,避免了可能出现的漏解的情况.应用MATLAB软件编程进行运动学模拟仿真,分别用9组和6组数据验证正解和逆解的合理性和正确性.
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| 关 键 词： | 运动学 MOTOMAN-UPJ机器人 仿真 |
| 文章编号： | 1004-2539(2006)04-0023-05 |
| 收稿时间： | 2005-10-06 |
| 修稿时间： | 2005年10月6日 |
Study on an Improved Method in Kinematics for MOTOMAN-UPJ Manipulator |
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| Chen Ping,Liu Guohai.Study on an Improved Method in Kinematics for MOTOMAN-UPJ Manipulator[J].Journal of Mechanical Transmission,2006,30(4):23-27. |
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| Authors: | Chen Ping Liu Guohai |
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| Abstract: | According to the structure characteristics of the MOTOMAN-UPJ robot manipulator , the forward and inverse kinematics equations have been deduced . An inverse kinematics equation which needs the inverse matrix multiplication only once has been presented . Compared with the conventional methods , this method has reduced the work of calculation greatly . Considering the problem what sometimes the results of the inverse kinematics equations are not real , the affects to the robot manipulator inverse kinematics of each position parameter have been discussed , an inverse kinematics equation has been confirmed , and the situation of missing results has been avoided . At last , 9 groups of data and 6 groups of data have been used to proved the preciseness and rationality of the forward and the kinematics equations by kinematics simulation of MATLAB. |
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| Keywords: | Kenimatics MOTOMAN-UPJ robot manipulator Simulation |
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