• CN:11-2187/TH
  • ISSN:0577-6686

›› 2001, Vol. 37 ›› Issue (5): 22-25.

• 论文 • 上一篇    下一篇

基于线性变换的一般5R串联机器人逆运动学分析

杭鲁滨;金琼;杨廷力   

  1. 东南大学机械系;中国石化金陵石化公司
  • 发布日期:2001-05-15

INVERSE KINEMATIC ANALYSIS OF GENERAL 5R SERIAL ROBOT BASED ON LINEAR TRANSFORMATION

Hang Lubin;Jin Qiong;Yang Tingli   

  1. Southeast University Jinling Petrochemical Corporation
  • Published:2001-05-15

摘要: 基于线性变换消元原理,提出了5R串联机器人逆运动学分析的一般方法:仅用3个原始运动学方程(传统方法用4个方程),导出了只含1个变元的多项式方程;该方法适用于一解亦适用于多解问题;揭示了其装配构形数目与系数矩阵内在联系;5R机构的装配条件对6R串联机器人逆运动分析将具有重要意义。

关键词: 串联机器人, 逆运动学, 线性变换, 装配构形

Abstract: Based on the linear transformation theory, a general method for inverse kinematic analysis of 5R serial robot is proposed. Using this method, a polynomial equation which contains only one variable and no extraneous roots can be derived from 3 original kinematic equations, whereas the traditional method needs 4 equations. The assembly condition of 5R robot (5R loop) and its application in kinematic analysis are discussed. This assembly condition is very useful for finding 6R robot’s real configuration.

Key words: Configuration, Inverse kinematics, Linear transformation, Serial robot

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