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...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.026 |
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| _version_ | 1841547409873698816 |
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| author | Li Xianhua Sun Qing Zhang Leigang Zhang Jun |
| author_facet | Li Xianhua Sun Qing Zhang Leigang Zhang Jun |
| author_sort | Li Xianhua |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-50042bc5894c40829e2ded291af55ca9 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-50042bc5894c40829e2ded291af55ca92025-01-10T14:42:12ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014212913429936487Research and Simulation of the Kinematics of Dual-arm 6R Service RobotLi XianhuaSun QingZhang LeigangZhang JunAiming 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.026Dual-armInverse kinematicsGeometrical methodCoordinate projection methodSimulation verification |
| spellingShingle | Li Xianhua Sun Qing Zhang Leigang Zhang Jun Research and Simulation of the Kinematics of Dual-arm 6R Service Robot Jixie chuandong Dual-arm Inverse kinematics Geometrical method Coordinate projection method Simulation verification |
| title | Research and Simulation of the Kinematics of Dual-arm 6R Service Robot |
| title_full | Research and Simulation of the Kinematics of Dual-arm 6R Service Robot |
| title_fullStr | Research and Simulation of the Kinematics of Dual-arm 6R Service Robot |
| title_full_unstemmed | Research and Simulation of the Kinematics of Dual-arm 6R Service Robot |
| title_short | Research and Simulation of the Kinematics of Dual-arm 6R Service Robot |
| title_sort | research and simulation of the kinematics of dual arm 6r service robot |
| topic | Dual-arm Inverse kinematics Geometrical method Coordinate projection method Simulation verification |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.05.026 |
| work_keys_str_mv | AT lixianhua researchandsimulationofthekinematicsofdualarm6rservicerobot AT sunqing researchandsimulationofthekinematicsofdualarm6rservicerobot AT zhangleigang researchandsimulationofthekinematicsofdualarm6rservicerobot AT zhangjun researchandsimulationofthekinematicsofdualarm6rservicerobot |