多自由度机器人仿真

阳光穿透心脏的1/2处 2023-10-03 07:57 22阅读 0赞

设计一个多自由度机器人，至少包含一个伸缩关节，对指定位置的物体进行搬运，进行正运动学仿真，逆运动学求解。

机器人D-H坐标系

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对应的D-H参数表

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 1][]

根据D-H参数表得到齐次变换矩阵

![20210614172446920.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 2][]

![20210614172512615.png][]

将D-H参数表的数据代入,得到:

![2021061417263918.png][]

绘制机器人工作空间，让机器人每个关节在给定的范围内运动，机器人末端经过的位置使用红点标记，得到工作空间:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2ExNTQ1NTU_size_16_color_FFFFFF_t_70 3][]

机器人逆运动求解:

在所有的转动和移动关节中，当机器人的自由度总共有6个或者小于6个时是可解的。 其通解一般是数值不是解析表达式。如果使用数值迭代原理求解，计算量要比解析解大。 在某些情况下，如果若干个关节轴线相交和或多个关节轴线等于0或90°的情况下(即机 器人自由度减少)，具有6个自由度的机器人可得到解析解。为使机器人有解析解，一般设 计方法是使工业机器人结构足够简单，尽量满足这些特殊条件。

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