四自由度机械臂运动学建模

Amin A. Mohammed, M. Sunar
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引用次数: 44

摘要

本文提出了RA-02型四自由度机械臂的运动学模型。采用Denavit-Hartenberg (DH)约定和基于螺旋理论的指数积公式来求解直接运动学问题。通过对两种方法的结果进行比较,结果表明两种方法对机械臂的运动学解是一致的。此外,还给出了基于三角公式的运动学逆问题的代数解法。最后,给出了基于DH约定的Matlab程序对运动学模型的仿真结果。由于这两种方法是相同的,因此在所研究的机械臂上,指数公式的乘积应该产生相同的仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Kinematics modeling of a 4-DOF robotic arm
This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.
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