七自由度手臂运动控制与轨迹插值

摘要

针对七自由度拟人手臂运动控制与轨迹平滑的相关问题,进行了相关运动学算法和轨迹插值算法的研究.首先,根据七自由度拟人手臂的机械结构和冗余轴运动特性,建立了基于MDH法的连杆坐标系,其次从正、反运动学建模两个方面对拟人手臂进行了运动控制描述.然后,深入研究了拉格朗日插值算法,从而构造出平滑曲线.最后,利用MATLAB的机器人工具箱和绘图工具箱对拟人手臂进行了运动和规划仿真实验,从而验证了正、逆运动学封闭解和拉格朗日插值算法的正确性.%In view of humanoid arm motion control and trajectory interpolation based on the problem of seven degree of freedom,the related algorithms are studied Firstly,according to the mechanical structure of the seven axis humanoid arm and redundancy axis movement characteristics,the MDH method is established.And the motion control of humanoid arm is described in terms of positive and negative kinematics.Then,double three interpolation algorithms are studied,and the smooth curve is build.Last,the simulation experiment was executed on the seven degree of freedom humanoid arm with method of the robot toolbox,which verified the correctness of the closed solution of the positive and negative kinematics and the three trajectory interpolation algorithm.