6R操作臂逆运动学分析与轨迹规划

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提出一种依赖初始位形的6R串联操作臂运动学逆解模型与轨迹规划方法。以折叠状态下6R串联操作臂各关节轴线方向单位矢量和位置矢量为基础,运用旋量理论与指数积方法建立该操作臂在初始状态下的运动学模型,以解析法得到该操作臂的16组运动学逆解,通过规划末端执行器在全局坐标系下的位置和姿态运动轨迹,应用运动学逆解得到各关节的运动轨迹。仿真结果表明该操作臂运动学模型、逆解方法与轨迹规划结果正确。该方法建立的6R串联操作臂运动学模型及逆解方法具有建模简单、易于求解、便于轨迹规划等优点。 An inverse kinematic solution is introduced with the trajectory planning method for a kind of 6R serial manipulators,which has a close relationship with the initial pose configurations.On the basis of the unit axis vector and position vector of the joints of the 6R serial manipulator in the folded status,the screw theory and exponential production approach are used for the manipulator＇s kinematic solutions in the initial configurations,and a complete set of the 16 inverse kinematic solutions are deduced by the analytical method.The trajectories of the manipulator＇s joints are planned by the inverse kinematic solutions,which are guided by the end-effector＇s trajectories in the global coordinate system.The simulation results show that it is correct for the inverse kinematic solutions and the trajectory planning method for the 6R serial manipulator.The method for the inverse kinematic solution of the 6R serial manipulators is proved to have the advantages of simple to be modeled,easy to be solved and convenient to be planed for the trajectories.