| 沈浩宇， 江先志.基于坐标变换法的3关节机械臂运动学研究[J].轻工机械,2021,39(4):31-30 |
| 基于坐标变换法的3关节机械臂运动学研究 |
| Research on Three Joint Manipulator Kinematics Based on Coordinate Transformation Method |
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| DOI：10.3969/j.issn.1005 2895.2021.04.007 |
| 中文关键词: 机器人运动学 机械臂 坐标变换法 D H参数法 Robotics Toolbox |
| 英文关键词:robot kinematics mechanical arm coordinate transformation method D H parameter method Robotics Toolbox |
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| 中文摘要: |
| 针对当前在串联机器人运动学分析中使用的D H参数法存在观察抽象、坐标系转换不灵活、参数容易混乱、理论模型与实体模型出入大等缺点，课题组采用坐标变换法对3关节机械臂进行运动学研究。依据关节之间的相对位置关系建立坐标系，采用齐次变换矩阵对坐标系之间的关系进行描述，并建立运动学方程；采用D H参数法建立机械臂的运动学模型，在MATLAB的Robotics Toolbox中验证了坐标变换法的正确性；编写上位机软件实现了机械臂样机的实时控制。结果表明：坐标变换法具有灵活方便、形象直观、便于计算的优点。该方法弥补了传统D H法在分析平行关节时的缺陷。 |
| 英文摘要: |
| In view of the shortcomings of the D H parameter method currently used in the kinematic analysis of tandem robots, such as observation abstraction, inflexible coordinate system transformation, easy confusion of the parameters and the big discrepancy between theoretical model and entity model, the kinematics of the 3 joint manipulator was studied by using the coordinate transformation method. The coordinate system was established according to the relative position relationship between joints, the homogeneous matrix was adopted to describe the relarion between coordinate systems and the kinematics equarion was established. The kinematics model of manipulator was established by D H parameter method. The correctness of the coordinate transformation method was verified in Robotics Toolbox of MATLAB, and the upper computer software was programmed to realize the real time control of the robotic arm prototype. The results show that the coordinate transformation method has the advantages of flexibility, visualization and easy calculation, which makes up for the defect of traditional D H method in analyzing parallel joints. |
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