| 移动机器人模块化机械臂运动学分析 |
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| 引用本文： | 吕晋,张俊,王南.移动机器人模块化机械臂运动学分析[J].河北工业科技,2013,30(5):333-337. |
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| 作者姓名： | 吕晋 张俊 王南 |
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| 作者单位： | 河北工程大学机电工程学院;中国科学院深圳先进技术研究院 |
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| 摘 要： | 机械手臂的运动学分析是移动机器人机械臂实现抓取作业的一个关键问题。为成功完成抓取作业,将移动机器人模块化手臂优选为4自由度构型。运用D-H法建立了机器人的运动学方程,基于装备在移动机器人的模块化手臂的运动学研究,建立了机械手臂自主抓取的数学模型,分析手臂的工作空间,并用Matlab仿真验证运动学算法的正确性。建立了视觉与手臂基础坐标系的位姿矩阵,并用实验验证了该构型的运动学结论和位姿转换矩阵的正确性。
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| 关 键 词： | 移动机器人 手臂 运动学 仿真 工作空间 |
Kinematics analysis of modular manipulators of mobile robot |
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| LYU Jin,ZHANG Jun and WANG Nan.Kinematics analysis of modular manipulators of mobile robot[J].Hebei Journal of Industrial Science & Technology,2013,30(5):333-337. |
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| Authors: | LYU Jin ZHANG Jun and WANG Nan |
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| Institution: | 1(1.College of Mechanical and Electrical Engineering,Hebei University of Engineering,Handan Hebei 056038,China;2.Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen Guangdong 518055,China) |
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| Abstract: | The kinematics analysis of robot arm has become a key issue for mobile robot to realize grasp task.To complete simple grasp function,a four degree of freedom Dofs modular manipulator has been built for practical experiments.D-H methodology is used to build kinematic equations for analysis of the kinematics of a modular manipulator,and a mathematical model is built.Then Matlab is used to verify the solution.The position matrix of the vision coordinate and the base coordinate of the robot arm is also determined.Experiment result proves the correctness of the solution and the matrix. |
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| Keywords: | mobile robot robotic arm kinematics simulation workspace |
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