八自由度机械臂位置运动学模型解析解
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摘要
采用D-H法建立了八自由度农业机器人机械臂连杆坐标系,得到以关节变量为输入的正运动学方程。在正运动学方程的基础上,根据农业机器人实际工况以及机械臂自身的结构特点,设定了约束条件,进行了逆运动学分析,得到了各关节变量的解析表达式,并对正运动学与逆运动学计算结果进行了相互验证。采用ADAMS仿真软件建立了机械臂的仿真模型,进行了运动学仿真,仿真结果与理论计算相符。搭建实验平台,实验验证了正运动学与逆运动学求解结果的正确性。
Agricultural robot technology can reflect the level of a country's agricultural mechanization,and the level of agricultural mechanization is an important indicator of a country's level of agricultural modernization. At present,the agricultural robots in China have made great progress. Taking an agricultural robot as the research object,and the robot kinematics method was used to analyze the relationship between various joints,including the analysis of positive kinematics and inverse kinematics.Firstly,three-dimensional software was used to design the structure. According to the structural characteristics of the robotic arm,the D-H method was used to establish the link coordinate system. The relationship between two adjacent links was represented by a homogeneous transformation matrix,and the positive kinematics equations with joint variables as input were obtained. Based on the positive equation of motion,according to the structural characteristics of the robot arm itself and the actual working conditions,the constraints were set,and inverse kinematics analysis was performed by using the inverse transformation method. The analytical expressions of the joint variables were obtained. The results of the calculations of positive kinematics and inverse kinematics were mutually verified. The simulation model of the robotic arm was established by using Adams simulation software. The kinematics simulation was performed. The simulation results were in accordance with the theoretical calculations, and the correctness of the solution results of positive kinematics and inverse kinematics was verified. The research results provided a theoretical basis for follow-up trajectory planning of agricultural robot control,which laid a foundation for the intelligent operation of agricultural robots.
Agricultural robot technology can reflect the level of a country's agricultural mechanization,and the level of agricultural mechanization is an important indicator of a country's level of agricultural modernization. At present,the agricultural robots in China have made great progress. Taking an agricultural robot as the research object,and the robot kinematics method was used to analyze the relationship between various joints,including the analysis of positive kinematics and inverse kinematics.Firstly,three-dimensional software was used to design the structure. According to the structural characteristics of the robotic arm,the D-H method was used to establish the link coordinate system. The relationship between two adjacent links was represented by a homogeneous transformation matrix,and the positive kinematics equations with joint variables as input were obtained. Based on the positive equation of motion,according to the structural characteristics of the robot arm itself and the actual working conditions,the constraints were set,and inverse kinematics analysis was performed by using the inverse transformation method. The analytical expressions of the joint variables were obtained. The results of the calculations of positive kinematics and inverse kinematics were mutually verified. The simulation model of the robotic arm was established by using Adams simulation software. The kinematics simulation was performed. The simulation results were in accordance with the theoretical calculations, and the correctness of the solution results of positive kinematics and inverse kinematics was verified. The research results provided a theoretical basis for follow-up trajectory planning of agricultural robot control,which laid a foundation for the intelligent operation of agricultural robots.
引文
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[7]权龙哲,申静朝,奚德君,等.狭闭空间内苗盘物流化搬运机器人运动规划与试验[J/OL].农业机械学报,2016,47(1):51-59. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20160108&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. 01. 008.QUAN Longzhe,SHEN Jingchao,XI Dejun,et al. Motion planning and experiment of seedling disk logistics handling robot in narrow space[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):51-59.(in Chinese)
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[14]熊有伦,丁汉,刘恩沧.机器人学[M].北京:机械工业出版社,1993.
[15] PAUL R P,SHIMANO B E,MAYER G. Kinematic control equations for simple manipulators[J]. IEEE Trans SMC,1981,11(6):449-455.
[16] LEE C S G,ZIEGLER M. A geometric approach in solving the inverse kinematics of PUMA robots[J]. IEEE Trans,Aerospace and Electronic Systems,1984,20(6):695-706.
[17] PIEPER D. ROTH B. The kinematics of manipulators under computer control[C]∥Proc. of the ZND International Congress on Theory of Machines and Mechanisms,1969:159-169.
[18]李泰国,李文新,段福伟,等.偏置式空间机械臂关节角参数化逆运动学求解[J].机床与液压,2018,46(9):47-51.LI Taiguo,LI Wenxin,DUAN Fuwei,et al. Parameterized inverse kinematics solution for joint angle of offset space manipulator[J]. Machine Tool&Hydraulics,2018,46(9):47-51.(in Chinese)
[19]王大超,刘虹.基于MATLAB与ADAMS的机械臂仿真分析[J].机械工程与自动化,2017(6):59-60.WANG Dachao,LIU Hong. Simulation analysis of robot arm based on MATLAB and ADAMS[J]. Mechanical Engineering&Automation,2017(6):59-60.(in Chinese)
[20]刘泽宇,冯雷,黄道敏,等.六自由度机械臂的动力学仿真及控制[J].机械与电子,2018,36(4):38-41.LIU Zeyu,FENG Lei,HUANG Daomin,et al. Dynamic simulation and control of six degrees of freedom manipulator[J].Machinery&Electronics,2018,36(4):38-41.(in Chinese)
[2]王儒敬,孙丙宇.农业机器人的发展现状及展望[J].中国科学院院刊,2015,30(6):803-809.WANG Rujing,SUN Bingyu. Development status and prospects of agricultural robots[J]. Chinese Academy of Sciences Journal,2015,30(6):803-809.(in Chinese)
[3]陈威,郭书普.中国农业信息化技术发展现状及存在的问题[J].农业工程学报,2013,29(22):196-205.CHEN Wei,GUO Shupu. Development status and problems of agricultural information technology in China[J]. Transactions of the CSAE,2013,29(22):196-205.(in Chinese)
[4]林欢,许林云.中国农业机器人发展及应用现状[J].浙江农业学报,2015,27(5):865-871.LIN Huan,XU Linyun. The development and prospect of agricultural robots in China[J]. Acta Agriculturae Zhejiangensis,2015,27(5):865-871.(in Chinese)
[5]权龙哲,李成林,冯正阳,等.体感操控多臂棚室机器人作业决策规划算法研究[J/OL].农业机械学报,2017,48(3):14-23. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170302&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 03. 002.QUAN Longzhe,LI Chenglin,FENG Zhengyang,et al. Algorithm of work's decision for three arms robots in greenhouse based on control with motion sensing technology[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(3):14-23.(in Chinese)
[6]荣誉,金振林,崔冰艳.六足农业机器人并联腿构型分析与结构参数设计[J].农业工程学报,2012,28(15):9-14.RONG Yu,JIN Zhenlin,CUI Bingyan. Configuration analysis and structural parameter design of parallel legs of hexapod agriculture robot[J]. Transactions of the CSAE,2012,28(15):9-14.(in Chinese)
[7]权龙哲,申静朝,奚德君,等.狭闭空间内苗盘物流化搬运机器人运动规划与试验[J/OL].农业机械学报,2016,47(1):51-59. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20160108&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. 01. 008.QUAN Longzhe,SHEN Jingchao,XI Dejun,et al. Motion planning and experiment of seedling disk logistics handling robot in narrow space[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):51-59.(in Chinese)
[8]冯青春,纪超,张俊雄,等.黄瓜采摘机械臂结构优化与运动分析[J].农业机械学报,2010,41(增刊):244-248.FENG Qingchun,JI Chao,ZHANG Junxiong,et al. Structure optimization and kinematic analysis of cucumber-harvesting-robot manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(Supp.):244-248.(in Chinese)
[9]阳方平,李洪谊,王越超,等.一种求解冗余机械臂逆运动学的优化方法[J].机器人,2012,34(1):17-21.YANG Fangping,LI Hongyi,WANG Yuechao,et al. An optimization method for solving the inverse kinematics of redundant manipulators[J]. Robot,2012,34(1):17-21.(in Chinese)
[10]张新敏,朱学军,赵晨晨,等.基于Matlab的HP20机器人运动学分析与仿真[J].制造业自动化,2014(13):12-15.ZHANG Xinmin,ZHU Xuejun,ZHAO Chenchen,et al. Kinematics analysis and simulation of HP20 robot based on Matlab[J]. Manufacturing Automation,2014(13):12-15.(in Chinese)
[11] DENAVIT J,HARTENBERG R S. A kinematic notation for lower-pair mechanisms based on matrices[J]. Journal of Applied Mechanics,1995,21(5):215-221.
[12] LEE Rongshean,YAN Honglin. Development of universal environment for constructing 5-axis virtual machine tool based on modified D-H notation and Open GL[J]. Robotics and Computer-Integrated Manufacturing,2010,26(3):253-262.
[13] MOHAMED K T,ATA A A,El-SOUHY B M. Dynamic analysis algorithm for a micro-robot for surgical applications[J].International Journal of Mechanics&Materials in Design,2011,7(1):17-28.
[14]熊有伦,丁汉,刘恩沧.机器人学[M].北京:机械工业出版社,1993.
[15] PAUL R P,SHIMANO B E,MAYER G. Kinematic control equations for simple manipulators[J]. IEEE Trans SMC,1981,11(6):449-455.
[16] LEE C S G,ZIEGLER M. A geometric approach in solving the inverse kinematics of PUMA robots[J]. IEEE Trans,Aerospace and Electronic Systems,1984,20(6):695-706.
[17] PIEPER D. ROTH B. The kinematics of manipulators under computer control[C]∥Proc. of the ZND International Congress on Theory of Machines and Mechanisms,1969:159-169.
[18]李泰国,李文新,段福伟,等.偏置式空间机械臂关节角参数化逆运动学求解[J].机床与液压,2018,46(9):47-51.LI Taiguo,LI Wenxin,DUAN Fuwei,et al. Parameterized inverse kinematics solution for joint angle of offset space manipulator[J]. Machine Tool&Hydraulics,2018,46(9):47-51.(in Chinese)
[19]王大超,刘虹.基于MATLAB与ADAMS的机械臂仿真分析[J].机械工程与自动化,2017(6):59-60.WANG Dachao,LIU Hong. Simulation analysis of robot arm based on MATLAB and ADAMS[J]. Mechanical Engineering&Automation,2017(6):59-60.(in Chinese)
[20]刘泽宇,冯雷,黄道敏,等.六自由度机械臂的动力学仿真及控制[J].机械与电子,2018,36(4):38-41.LIU Zeyu,FENG Lei,HUANG Daomin,et al. Dynamic simulation and control of six degrees of freedom manipulator[J].Machinery&Electronics,2018,36(4):38-41.(in Chinese)