Analytical inverse kinematics and trajectory planning for a 6DOF grinding robot

2013 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2013-08-01 DOI:10.1109/ICINFA.2013.6720409

Jianqing Peng, Wenfu Xu, Zhiying Wang, Deshan Meng

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引用次数: 4

Abstract

A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two sub-problems were respectively solved analytically, and four sets of solutions of the joint variables were obtained. By adopting the configuration flag, the appropriate solution corresponding to the flag can be determined. Furthermore, the circular trajectory in Cartesian space of the grinding robot was planned to perform the grinding tasks. By taking advantage of the analytical inverse kinematics, the planned Cartesian trajectory is transformed into joint-space. Finally, a simulation system was developed by using Matlab/Simulink software. Based on the system, the analytical inverse kinematics solution and trajectory planning method was studied by numerical simulation. The simulation results showed the effectiveness of the proposed method.

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六自由度磨削机器人解析运动学逆解与轨迹规划

磨削机器人由六个关节组成，其中第二个关节为移动关节，其余关节为旋转关节。根据其构型特点，将6DOF反运动学问题分解为位置反运动学和姿态反运动学两个子问题。然后分别对两个子问题进行解析求解，得到联合变量的四组解。通过采用配置标志，可以确定与该标志对应的合适的解决方案。在此基础上，规划了磨削机器人在笛卡尔空间中的圆形轨迹来完成磨削任务。利用解析逆运动学，将规划的笛卡尔轨迹转化为关节空间。最后，利用Matlab/Simulink软件开发了仿真系统。在此基础上，通过数值仿真研究了该系统的解析运动学逆解和轨迹规划方法。仿真结果表明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2013 IEEE International Conference on Information and Automation (ICIA)

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