一种六自由度工业机器人运动学分析及三维可视化仿真

摘要

针对Motoman-HP20机器人的构型特点，采用 D-H 坐标变换法建立其运动学坐标系，将机器人分解为位置结构和姿态结构，得到以位置矢量和欧拉角表示的完备广义坐标，利用位姿分离法对机器人进行逆运动学求解，求得各个关键转角。构建了三维可视化仿真环境，验证所提出的运动学算法的正确性。该仿真环境可以直观地观察机器人各部分的运动情况。%For configurational characteristics of Motoman-HP20 robot,the D-H coordinate trans-formation method was adopted to establish the kinematics coordinate system,the robot was decom-posed into position structure and pose structure,complete generalized coordinates of position vector and Euler angle were obtained.Pose separation method was used to analyse the robot inverse kinemat-ics solution for critical angle.The 3D visual simulation environment was built,and the kinematics of the proposed algorithm was proved to be correct.The simulation platform of robot movement of each part could be observed visually.