The Kinematics Algorithm of a Ship Gun Large-load Redundant Magazine Robot

摘要

The magazine robot studied in this paper applies the lifting and unloading of the ammunition box of the naval gun weapon warehouse, and is equipped with a special box gripper to grab, place, and move the ammunition box. In order to ensure that the magazine robot can successfully complete the task of lifting and refilling the magazine, it is necessary to carry out the kinematics modeling and analysis of the robot. The kinematic modeling and analysis of magazine robots is the basis of motion control. In order to fully predict the robot's grasping and placing movement of a specific magazine, choosing a suitable modeling method will greatly simplify the research of seven axis redundant robot algorithm, which is very important for robot kinematics modeling, the kinematics model can be used for motion planning, analysis of motion changes, to achieve the purpose of optimizing parameters, the commonly used method of kinematics modeling is to establish the robot motion through the DH(Denavit-Hartenberg) parameter method Learn equations, solve the robot forward kinematics and inverse kinematics, and analyze the pose transformation of each joint.