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针对所设计的W-5D型水下采样机械手,利用D-H法建立其参数和正运动学模型。由机械手的相邻3个关节轴线相互平行的结构特点,在常用的反变换法的基础上引入几何法,得到了逆运动学的封闭解,解的结构简明并且易于操作,满足了机械手对水下作业环境的逆解要求,为机械手的运动规划和轨迹控制提供了依据。使用MATLAB Robotics Toolbox建立机械手的仿真模型。工具箱内部提供的ikine函数已是获得工业机器人逆解的重要方法,通过与ikine函数所得结果的对比分析,验证所求得封闭解的可行性和优越性。
According to the design W-5D underwater sampling manipulator, the parameters and the positive kinematics model are established by D-H method. Based on the structural features that the axes of three adjacent robots are parallel to each other, the geometrical method is introduced on the basis of the commonly used inverse transform method, and the closed-form solution of inverse kinematics is obtained. The structure of the solution is concise and easy to operate, The requirement of inverse solution for the working environment provides the basis for the motion planning and trajectory control of the manipulator. Use MATLAB Robotics Toolbox to create a simulation model of robot. The ikine function provided inside the toolbox is an important method to get the inverse solution of the industrial robot. The comparison and analysis of the results obtained with the ikine function verify the feasibility and superiority of the closed solution.