• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (11): 58-62.

• 论文 • 上一篇    下一篇

具有冗余度的三分支空间机器人逆运动学分析

叶平;孙汉旭   

  1. 北京航空航天大学机器人研究所;北京邮电大学自动化学院
  • 发布日期:2005-11-15

ANALYSIS OF INVERSE KINEMATICS FOR THREE-BRANCH SPACE ROBOT WITH REDUNDANCY

Ye Ping;Sun Hanxu   

  1. Institute of Robotics Research, Beihang University Automation School, Beijing University of Posts & Telecommunications
  • Published:2005-11-15

摘要: 为了给运动学优化、动力学优化与容错控制提供理论基础,利用旋量理论对具有冗余度的三分支空间机器人进行了逆运动学分析,并建立了统一的逆运动学模型。对于各分支具有球腕的三分支空间机器人,基于腕关节的封闭解,给出了简化的逆运动学模型。最后以每个分支有5个旋转关节的三分支空间机器人为例进行了计算机仿真,仿真结果证实了所提逆运动学模型的正确性。

关键词: 空间机器人, 逆运动学, 冗余度, 三分支, 旋量理论

Abstract: In order to provide theoretic basis of kinematic optimization, dynamic optimization and fault–tolerant control, the inverse kinematics of three-branch space robot with redundancy is analyzed using screw theory and its unified formulation is established. Based on closed-form resolution of spherical wrist, a simplified inverse kinematics model of three-branch space robot with spherical-wrist in each branch is proposed. The validity of the proposed inverse kinematics model is dem-onstrated by computer simulation results.

Key words: Inverse kinematics, Redundancy, Screw theory, Space robot, Three-branch

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