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文中对一种具有冗余结构的拟人双臂机器人进行研究。首先,采用D-H法建立机器人手臂的运动学模型,得到其运动学正解;其次,利用数值法在考虑各关节边界条件的基础上对其工作空间进行了分析,分别得到了单臂作业和双臂协同作业时工作空间的三维视图和二维截面图;最后,对其奇异性进行了分析。分析结果表明,该机器人双臂协同作业时具有较大的工作空间,为其后续的协同控制和轨迹规划提供理论依据。
In this paper, a redundant humanoid two-arm robot is studied. Firstly, the kinematic model of robot arm is established by DH method and its kinematic positive solution is obtained. Secondly, the workspace is analyzed by numerical method based on the consideration of the boundary conditions of each joint. Single-arm operation and arms The three-dimensional view and the two-dimensional cross-sectional view of the working space when collaborative work is carried out. Finally, the singularity is analyzed. The analysis results show that this robot has more working space when it cooperates with two arms and provides a theoretical basis for its subsequent coordinated control and trajectory planning.