| 一种6轴搬动机器臂运动方程逆解的改良算法 |
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| 引用本文： | 卢春,冯建,吴子靖. 一种6轴搬动机器臂运动方程逆解的改良算法[J]. 机床与液压, 2020, 48(5): 81-87. DOI: 10.3969/j.issn.1001-3881.2020.05.018 |
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| 作者姓名： | 卢春 冯建 吴子靖 |
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| 作者单位： | 广东交通职业技术学院,广东广州510800;广东交通职业技术学院,广东广州510800;广东交通职业技术学院,广东广州510800 |
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| 基金项目： | 广东省数学会课题（粤数分会研［2016］08）；2018广东大学生科技创新培育专项资金项目（攀登计划专项）（pdjhb0751） |
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| 摘 要： | 为了提高一种6轴搬动机器臂运动方程逆解的准确性、易推广性,以一种实际工业机器臂模型为研究对象,建立实体的D-H模型,进行运动学正解仿真与分析,以及运动学逆解算法的改良和编程,运用MATLAB求逆解,进行仿真并与实验测得的结果比较,验证了逆解改良算法的正确性,文中对机器臂运动方程的逆解改良算法可应用于高校的机器人教学中。
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| 关 键 词： | 6轴机器臂 运动方程逆解 逆解算法改良 |
An Improved Algorithm for Inverse Solution of Kinematics Equation of One Moving 6 Axis Robotic Arm |
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| LU Chun,FENG Jian,WU Zijing. An Improved Algorithm for Inverse Solution of Kinematics Equation of One Moving 6 Axis Robotic Arm[J]. Machine Tool & Hydraulics, 2020, 48(5): 81-87. DOI: 10.3969/j.issn.1001-3881.2020.05.018 |
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| Authors: | LU Chun FENG Jian WU Zijing |
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| Affiliation: | (Guangdong Communication Polytechnic,Guangzhou Guangdong 510800,China) |
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| Abstract: | A real industrial robot arm model is studied in order to improve the accuracy and popularity of a kind of moving 6-axis robotic arm.Entity D-H model was established,positive solution in Kinematics was emulated and analyzed,the inverse solution algorithm of kinematic equation was programmed and improved,using MATLAB to find the inverse solution,entity kinematic simulation was carried out,and the simulative results and actual situation were compared and analyzed,the accuracy of the improved algorithm was verified.The study for deriving improved algorithm for inverse solutions of kinematics equation of other types of robotic arms provides help for the promotion of artificial intelligence education in Colleges and Universities. |
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| Keywords: | 6-axis robotic arm Inverse solutions of kinematics equation Improved algorithm for inverse solution |
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