Research and Simulation of the Kinematics of Dual-arm 6R Service Robot
Aiming at the inverse solution problem of the kinematics of dual-arm service robot,a inverse kinematics solution is proposed according to its configuration characteristics. Firstly,according to the structure characteristics of the manipulator,the forward kinematics model of dual-arm is got by using...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2018-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.026 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | Aiming at the inverse solution problem of the kinematics of dual-arm service robot,a inverse kinematics solution is proposed according to its configuration characteristics. Firstly,according to the structure characteristics of the manipulator,the forward kinematics model of dual-arm is got by using the method of standard DH modeling. A group of completely generalized coordinates is obtained by inverse transformation method of manipulator posture matrix using Euler angles. Then,the inverse kinematics of dual-arm6 R robot is solved by geometrical method and coordinate projection method. After analysis and calculation,the closed solutions of 8 groups can be obtained,and the optimal solution is selected. Finally,a 3 D simulation platform is established to verify the correctness of inverse kinematics based on MATLAB,and it lays the foundation for the trajectory planning and collision avoidance of manipulator. |
|---|---|
| ISSN: | 1004-2539 |