Analysis and Simulation of Workspace of Humanoid Manipulator based on Matlab

Qingsong Zhang; Shuaichen Duan; Re Xia

doi:10.16578/j.issn.1004.2539.2020.12.016

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Analysis and Simulation of Workspace of Humanoid Manipulator based on Matlab

Design· Calculation | 更新时间：2022-11-10

- Analysis and Simulation of Workspace of Humanoid Manipulator based on Matlab
- Journal of Mechanical Transmission Vol. 44, Issue 12, Pages: 99-105(2020)
- 作者机构：
  
  1.水力机械过渡过程教育部重点实验室（武汉大学），湖北武汉 430072
  2.水射流理论与新技术湖北省重点实验室（武汉大学），湖北武汉 430072
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.12.016
  CLC：
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张清松,段帅臣,夏热.基于Matlab的拟人机械臂工作空间分析及仿真[J].机械传动,2020,44(12):99-105.

Zhang Qingsong,Duan Shuaichen,Xia Re.Analysis and Simulation of Workspace of Humanoid Manipulator based on Matlab[J].Journal of Mechanical Transmission,2020,44(12):99-105.
张清松,段帅臣,夏热.基于Matlab的拟人机械臂工作空间分析及仿真[J].机械传动,2020,44(12):99-105. DOI： 10.16578/j.issn.1004.2539.2020.12.016.

Zhang Qingsong,Duan Shuaichen,Xia Re.Analysis and Simulation of Workspace of Humanoid Manipulator based on Matlab[J].Journal of Mechanical Transmission,2020,44(12):99-105. DOI： 10.16578/j.issn.1004.2539.2020.12.016.

摘要

以拟人机械臂为研究对象，对其工作空间进行了分析。运用旋量理论建立了拟人机械臂的正运动学模型，基于蒙特卡洛法得到了该机械臂的工作空间点云图；采用按角度划分法与双参数反正切函数相结合的方法对此工作空间的边界点进行了提取，采用最小二乘法曲线拟合了所提取的边界点，求得该机械臂的工作空间。Matlab仿真结果表明，工作空间边界点的提取效果较好，曲线拟合误差较小，为拟人机械臂的后续轨迹规划和运动控制奠定了基础。在此基础上，以搬运物体为例，简要分析了双拟人机械臂的协同工作。

Abstract

Taking the humanoid manipulator as the research object and its workspace is analyzed. The screw theory is used to establish the forward kinematics model of the manipulator. At the base of Monte Carlo method，the workspace point-cloud of the manipulator is obtained. The method of combining partitioning by angle method with two-parameter arctangent function is employed to extract the boundary points of the workspace. The least square method is applied to fit the extracted boundary points. The workspace of the manipulator is obtained. The results of the Matlab simulation show that the extraction effect of boundary points is good，and that fitting error of the curve is small，which lays a foundation for the subsequent trajectory planning and motion control of the humanoid manipulator. On the basis，taking the handling of objects as a study case，the collaborative work of the double humanoid manipulator is briefly analyzed.

关键词

拟人机械臂旋量理论工作空间蒙特卡洛法边界提取

Keywords

Humanoid manipulatorScrew theoryWorkspaceMonte Carlo methodBoundary extraction

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