PUMA560机械臂的运动轨迹研究与仿真
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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。
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.
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。
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.
引文
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[49]陈宁,焦恩璋等.PUMA机械手逆向运动方程求解新方法.南京林业大学学报(自然科学版),2003,(7),23-26.
[50]王奇志,徐心和,尹朝万.PUMA机械手逆向运动方程新的推导方法及求解[J].机器人,1998,20(3),81-87.
[51]尹泽明,丁春利,等著.精通MATLAB 6[M].北京:清华大学出版社,2002,1-2
[2]蔡自兴.机器人学.北京:清华大学出版社,2000,1-280.
[3]Saced B.Niku著.孙富春等泽.机器人学导论—分析、系统及应用,北京:电子工业出版社,2004,1-154.
[4]付京逊.机器人学.北京:中国科学技术出版社,1989,1-143.
[5]蒋新松.机器人导学[M].沈阳:辽宁科学技术出版社,1994,87-93.
[6]Zalzala A.M.S.,Morris A.S..A distributed on-line trajectory generator for intelligent sensory-based manipulators.Robotica 1991,9:145-155.
[7]徐元昌.工业机器人[M].北京:中国轻工业出版社,1995,59-60.
[8]刘成良,张为公,等.RV12L6R焊接机器人运动学正解及计算机仿真系统[J],东南大学学报,1998,(5),84-87.
[9]Fu K S,Gonzalez R C G.Robotics Sensins Vision and Intelligence[M].New York:M c G raw-Hill,1987.
[10]贺昱曜.PUMA560逆向运动方程的新解法[J].机器人,1989,16(2),92-97.
[11]吴文俊.几何定理机器证明的基本原理[M].北京:科学出版社,1984.
[12]于敏耀,马骏骑等.基于MATLAB的PUMA机器人运动学仿真.昆明理工学学报(理工版),2003,(12),50-53.
[13]王红卫.建模与仿真[M].北京:科学出版社,2002.10-12.
[14]吴振彪,等著.工业机器人[M].武汉:华中科技大学出版社,2004.34.
[15]诸静.机器人与控制技术,浙江大学出版社,1990.
[16]王淦昌等著.机器人[M].成都:四川教育出版社,1991,49-111.
[17]蒋新松.未来机器人技术发展方向的探讨,机器人,1996,18(5).
[18]彭商贤,张起先.试论国内外机器人机械学的发展趋向,机器人,1991,13(3).
[19]王国庆,路雨祥.机器人的运动学和动力学,机器人,1990,12(ⅰ).
[20]金勇南.一种新的机器人运动方程的求解方法,机器人,1994,11(5).
[21]毕诸明.六自由度操作手的逆运动学问题,机器人,1994,11(7).
[22]王翼,PUMA-760机器人运动学建模,机器人,1987,10(5).
[23]潘存云,工业机器人的运动仿真系统,机器人,1992,3(3).
[24]丁汉,陈家新.机器人最佳轨迹规划和图形的研究,机器人,1989,8(4).
[25]陈良康,张起先.机器人动力学Lagrange方程的新形式及其算法研究,机器人,1989,3(3).
[26]陈乐生.质心坐标系的Newton-Euler动力学方程,机器人,1993,15(3).
[27]王兴贵,谈大龙.机器人逆动力学简化实时快速算法,机器人,1995,17(1).
[28]施旗,张起先.机器人动力学方程的高效计算公式,机器人,1990,12(1).
[29]张京军.机械臂逆动力学一种有效的并行算法,机器人,1996,18(2).
[30]陈明哲,张起先.机器人系统数字仿真研究,机器人,1987,10(2).
[31]崔培莲,孙增坊.微机机器人仿真系统PCROBSM,机器人,1995,17(1).
[32]代学耕,高理基.国外机器人仿真技术的研究,机器人,1998,2(6).
[33]郭良康,黄宇中.机器人动力学优化综合的研究,机器人,1987,1(1).
[34]熊有伦,丁汉.机器人动力学性能指标及其优化,机械工程学报1989,25(2).
[35]韩朔眺.机器人PUMA-560的动力学方程,机器人,1987,1(4).
[36]孙增析.PUMA机器人的动态仿真,机器人,1987,1(5).
[37]韩朔眺.DGA-5A机器人的动力学及控制,机器人,1989,3(5).
[38]Alberto Izaguirre,Minoru Hashimoto.A New Computational Structure for R eal-Time Dynamics,Int.J.Robot.R es.,11(4),1992.
[39]Koichi Hashimoto,Algorithm for Inverse Dynamics,Int.J.Robot.Res.,8(1):1989.
[40]M.S.Ju.,J.M.Mansour.Comparison of Methods for Developing the Dynamics of Rigid-body Systems,Int.J.Robot.Res,8(5),1998.
[41]Lin C.J.,Ozaki H.Shimogawa T.,Generation and Optimality of Trajectory Described by B-Spline.IEEE International Symposium on Assembly and Task Planning,2001,92-97.
[42]Kane.T.R and Levinson.D.A.,the Use of Kane's Dynamical Equations in Robotics,Int.J.Robot.Res.,2(3),1983.
[43]Stepanenko,Y.and Unkobratovic.M,Dynamics of Articulated open-chain Active Mechanisms.Int.J.Robot.Res.,4(5),1985.
[44]Book.W,Recursive Lagrange Dynamics of Flexible Manipulator,Arms.Int.J.Robot.Res.,3(3),1984.
[45]Stanffer R N.Robot system simulation.Robotic Today,June 1984.
[46]Kretchs J.CAD/CAM for Robotics.Robots conf,Society of Manufacturing Engineers,Detroit,Mich,1982.
[47]Kenneth Jetal.A Study of a kinematically redundant manipulator structure.IEEE Conf.on Robotics and Automation,1986.
[48]Pyung H Chang.A closed-form solution for the control of manipulator with kinematic redundancy.IEEE Conf on Robots and Automation,1986.
[49]陈宁,焦恩璋等.PUMA机械手逆向运动方程求解新方法.南京林业大学学报(自然科学版),2003,(7),23-26.
[50]王奇志,徐心和,尹朝万.PUMA机械手逆向运动方程新的推导方法及求解[J].机器人,1998,20(3),81-87.
[51]尹泽明,丁春利,等著.精通MATLAB 6[M].北京:清华大学出版社,2002,1-2