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六自由度机械臂运动学分析与轨迹优化

Junru LI,Liqun QI,Wenbo HAN

Journal of Changchun University of Science and Technology（2019）

Cited 3|Views0
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Abstract
针对机械臂运动轨迹偏差较大的问题,采用D-H法建立模型,对六自由度机械臂进行了正、逆运动学的分析,基于机械臂关节轴的典型几何结构利用PIEPER准则推导逆运动学的封闭解;在笛卡尔空间中分析了直线插补和圆弧插补两种方法,通过对空间插值点的优化减小轨迹偏差,实现轨迹优化.仿真验证了算法的可行性,对机械臂在工业中的实际应用具有一定的指导意义.
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Key words
Six degrees of freedom manipulator,D-H method,inverse kinematics,trajectory planning,optimization al-gorithm
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