六自由度机械臂的运动学分析

102206THEKINEMATICSANALYSISOF6-DOFMANIPULATORCHAIYing,WANGXiuquanDepartmentofComputerScience&Technology,NorthChinaElectricPowerUniversity,Beijing,102206ABSTRACT:Alongwiththedevelopmentofscience,roboticsdevelopmentmadeaconsiderableprogressanditsapplicationhaveinfiltratedallwalksoflife.Therobotarmandrobotperformancearecloselyrelated.Thispaperisdesignedforanalyzingthemanipulatorkinematicsproblemsusingtheexampleof6-DOFmanipulator.Withtheknowledgeofpositivekinematicsproblemandreversekinematicsproblemanditanalyzestherelationbetweenmanipulatorendpointandthecoordinatesofthecorrespondingjointandestablishesamodeltoresolveapracticalproblemwhichiscomputingainstructionsequencefrombeginningpointofmanipulatorendtothetargetpoint.Thispaperisapracticalreferencevalueforestablishingmanipulatorkinematicsmodel.KEYWORDSManipulator,Kinematics,ReverseKinematics122.1111),,(ZYX6),,,,,(654321θθθθθθ),,(ZYX),,,,,(654321θθθθθθ[1]22Rot(x,6θ):x6θTrans(m,n,p):xyzmnpiθ:F,B,C,G,D,H654321,,,,,θθθθθθr1:ABr2:BCr3:CDr4:DEiA:iF,B,C,G,D,H654321,,,,,AAAAAAA:1A=Rot(z,1θ)Trans(0,0,1r)2A=Rot(y,2θ)3A=Rot(z,3θ)Trans(2r3c,2r3s,0)4A=Rot(x,4θ)Trans(0,3r4c,3r4s,)5A=Rot(x,5θ)6A=Rot(y,6θ)Trans(4r6c,0,4r6s,)1A=−1000010000cossin00sincos1111θθθθ1000100001000011r2A=−10000cos0sin00100sin0cos2222θθθθ3A=−1000010000cossin00sincos3333θθθθ10000100sin010cos0013232θθrr4A=−10000cossin00sincos000014444θθθθ1000sin100cos01000014343θθrr5A=−10000cossin00sincos000015555θθθθ6A=−10000cos0sin00100sin0cos6666θθθθA=1A2A3A4A5A6A=1000zzzzyyyyxxxxpaonpaonpaon=10pRR=zzzyyyxxxaonaonaonp=zyxpppRp[2]62.2[2]======61-51-41-31-21-1651-41-31-21-16541-31-21-165431-21-1654321-1654321ATAAAAAAATAAAAAAATAAAAAAATAAAAAAATAAAAAAA1111Tiθ≤≤−≤≤−≤≤−≤≤−≤≤−≤≤−2702701205.133270270138138125125180180654321θθθθθθ3),,,,,(654321θθθθθθ∆∆∆∆∆∆=∆Θ=PX′iθ∆-2,-1.9,-1.8,1.8,1.9,2410.12nPPPP,,,,321ΛX0X1XnX0X1XnX0Xn3.112TOiθ∆iTOEFE=||61∑=∆iiθminEFst.−−−∈∆≤≤−≤≤−≤≤−≤≤−≤≤−≤≤−}0.2,9.1,8.1,...,8.1,9.1,0.2{2702701205.133270270138138125125180180654321iθθθθθθθOx,Oy,Oziθiθ[3]5[1]20032[2]20073[3]2004(1986-)(1986-)(1951-)六自由度机械臂的运动学分析作者：柴莹，王秀全作者单位：华北电力大学计算机科学与技术学院,北京,102206本文链接：