CRS型机械手的逆运动求解新算法

作者：程小宁，韦巍 日期：2007-10-25/span> 浏览：4042 查看PDF文档

CRS型机械手的逆运动求解新算法

程小宁，韦巍
（浙江大学 电气工程学院，浙江 杭州 310027）

摘要：通过关节坐标的转换和旋转坐标系统的引入，给出了CRS机械手逆运动方程求解的一种新解析法，直接推导出各个关节转角变量的反三角公式，为机械手的运动优化和轨迹规划创造了条件。该算法避免大量的矩阵运算以及对计算结果取值范围的讨论，并且通过仿真分析证明了计算结果的正确性。除此之外，还通过真实的机械手验证了算法的优越性和合理性。
关键词：机械手；逆运动；坐标旋转
中图分类号：TP24文献标识码：A文章编号：1001-4551(2007)10-0074-03

New algorithm for solving the inverse kinematics based on CRS robot manipulator
CHENG Xiaoning, WEI Wei
(College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China)
Abstract: A new analytic scheme for solving the inverse kinematics equations of CRS robot manipulator was presented by the shift of the joint coordinates and the rotation coordinate system, which were significant to optimize the robot motion and path planning, and the formulas of calculating the sine and cosine of each rotate angle variable were solved. This algorithm avoids complex matrix calculation and judging the range of each variable. The simulation results show that the method is correct, and the lab experiment proves that this algorithm is feasible.
Key words: robot manipulator; inverse kinematics; coordinates rotation

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