Research and Simulation of the Kinematics of Dual-arm 6R Service Robot

Li Xianhua; Sun Qing; Zhang Leigang; Zhang Jun

doi:10.16578/j.issn.1004.2539.2018.05.026

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Research and Simulation of the Kinematics of Dual-arm 6R Service Robot

更新时间：2022-10-20

- Research and Simulation of the Kinematics of Dual-arm 6R Service Robot
- Vol. 42, Issue 5, Pages: 129-134(2018)
- 作者机构：
  
  1. 安徽理工大学机械工程学院
  2. 上海大学机电工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.05.026
  CLC：
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[1]李宪华,孙青,张雷刚,张军.双臂6R服务机器人的运动学研究及仿真[J].机械传动,2018,42(05):129-134.

Li Xianhua, Sun Qing, Zhang Leigang, et al. Research and Simulation of the Kinematics of Dual-arm 6R Service Robot. [J]. 42(5):129-134(2018)
[1]李宪华,孙青,张雷刚,张军.双臂6R服务机器人的运动学研究及仿真[J].机械传动,2018,42(05):129-134. DOI： 10.16578/j.issn.1004.2539.2018.05.026.

Li Xianhua, Sun Qing, Zhang Leigang, et al. Research and Simulation of the Kinematics of Dual-arm 6R Service Robot. [J]. 42(5):129-134(2018) DOI： 10.16578/j.issn.1004.2539.2018.05.026.

摘要

针对双臂服务机器人运动学的逆解问题,根据其构型特点提出一种逆运动学求解方法。首先,根据机械臂的结构特点,采用标准DH法对其进行建模,得到双臂的正运动学模型,同时采用逆变换方法将机械臂的姿态用欧拉角表示,进而得到机械臂位姿的一组广义坐标;然后,采用几何法和坐标系投影法对双臂6R机器人进行逆运动学求解,经分析计算后最多可得8组封闭解,并选取最优解;最后,基于MATLAB建立双臂的3D仿真运动平台,验证了逆运动学求解的正确性,为机械臂的轨迹规划和避碰奠定基础。

Abstract

Aiming at the inverse solution problem of the kinematics of dual-arm service robot,a inverse kinematics solution is proposed according to its configuration characteristics. Firstly,according to the structure characteristics of the manipulator,the forward kinematics model of dual-arm is got by using the method of standard DH modeling. A group of completely generalized coordinates is obtained by inverse transformation method of manipulator posture matrix using Euler angles. Then,the inverse kinematics of dual-arm6 R robot is solved by geometrical method and coordinate projection method. After analysis and calculation,the closed solutions of 8 groups can be obtained,and the optimal solution is selected. Finally,a 3 D simulation platform is established to verify the correctness of inverse kinematics based on MATLAB,and it lays the foundation for the trajectory planning and collision avoidance of manipulator.

关键词

双臂逆运动学几何法坐标系投影法仿真验证

Keywords

Dual-armInverse kinematicsGeometrical methodCoordinate projection methodSimulation verification

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