【作者】 王德兵；

【导师】 陆奎；

【作者基本信息】 安徽理工大学 ， 计算机应用技术， 2008， 硕士

【摘要】 本文根据机器人运动学相关理论,以PUMA560型机械臂为例,针对目前逆向运动学求解困难且复杂,建立了一个逆向运动学——解析解模型,并用具体案例进行说明,最后通过正向运动学仿真验证,得出仿真结果与求解结果完全相吻合,从而完整地解决了此型机械臂在快速运动时精确定位,避免了机械臂与障碍物发生碰撞等问题。由于所建立的逆向运动学模型采用的解析解存在多重性,因此,为了说明该算法的准确性,而采用具有解惟一性的正向运动学模型来进行仿真实验。仿真结果与逆向运动模型的解基本吻合,从而检验了逆向运动模型的正确性和有效性。理论分析和数值实验表明,该模型高效、简单,在现实中易于实现,且本文所编制地逆向运动程序和仿真程序可以直接应用于教学演示、机器人运动学研究,具有一定的应用价值。更多还原

【Abstract】 Based on the theory of robot kinematics related to PUMA560 type manipulator example, the establishment of a reverse kinematics - analytic solution model, and with specific cases that the final adoption of positive movement simulation,simulation results obtained with the complete results for corresponds to a complete solution to this type of arm movement in the fast-precision positioning of the arm to avoid a collision with the barrier and other issues.As established by the reverse kinematics model used multiple analytical solutions exist, and therefore, to illustrate the accuracy of the algorithm, and use of the uniqueness of a positive kinematic model for simulation. The simulation results and reverse movement of the basic model of anastomosis, which tested the reverse motion model is correct and effective.Theoretical analysis and numerical experiments show that the modle of highly efficient, simple, easy to implement in reality, and the paper prepared by the campaign to reverse procedures and simulation program can be directly applied to teaching demonstration, the robot kinematics research, hava a certain value.更多还原