【摘要】 对于冗余自由度机器人而言,在给定的机械臂末端位姿时,关节空间可以有多个位形与之对应,正因为这样的多解性和不确定性,增加了冗余自由度的逆运动学研究的难度,需要一种有效的分析手段进行研究。为此,以SCHUNK 7-DOF机械臂为研究对象,提出了一种采用SolidWorks/Motion模块的虚拟仿真实现方案,分析了作为控制关节电机驱动的STEP函数的数学特性,将笛卡尔空间的运动学轨迹规划问题转换为机械臂各关节驱动的STEP函数表达,并将轨迹规划算法应用在虚拟仿真系统中,规划了空间直线路径,利用机械臂冗余的自由度实现运动轨迹避障优化。通过仿真分析,验证了虚拟仿真实现方案的可行性,为冗余度机器人运动规划问题研究提供了一种有效的分析手段。更多还原

【Abstract】 For the redundant robot,in the given joint posture and space,there can be multiple corresponding joint space.Because of this kind of diversity and uncertainty,the difficulty in the inverse kinematics research is increasing,which needs an effective analyzing method to carry on the research.Considering that point,using SCHUNK 7-DOF modular robot,a virtual simulation implementation solution based on the SolidWorks/Motion was put forward for kinematic analysis.STEP mathematical propertie was analysed,which is the driven function to all rotary motors,so that the trajectory control in Cartesian coordinates can be transformed into the joint space planning with modified STEP function.The planning of the straight line trajectory was set up,and the trajectory optimization was realized with the redundant degree manipulator joint.The simulation of the virtual solution has verified the feasibility of the simulation model,providing an effective solution for the redundant robot research.更多还原