解耦球形腕拟人机械臂运动控制算法研究

摘要

In order to meet the special requirements on the integration and performance of robotic arm in extreme environment, a seven-degree-of-freedom manipulator with a highly integrated spherical wrist mechanism is proposed, and the motion control algorithm is studied in depth.Secondly, the kinematic model of the manipulator is established.From the two angles of kinematics and inverse kinematics, the kinematic model of the manipulator is established.The kinematic model of the manipulator is established.Finally, the forward and backward motion algorithm is simulated and validated by drawing the trajectory curve of the robot arm by means of the MATLAB simulation tool.The simulation results show that the proposed method is effective and reliable, and can be used to simulate the position of the manipulator and the attitude of the manipulator.The validity of the algorithm and the accuracy of its tracking trajectory.%为满足极端环境对机械臂在集成度和性能方面的特殊要求,文章提出一种具有高集成度球形手腕机构的7自由度机械臂,对运动控制算法进行了深入研究.首先,分析了机械臂结构特点,其末端手腕的灵活性和紧凑性由双万向节和双半球结构来保证;其次,建立了机械臂的运动学模型,从正逆运动学两个角度对机器人的特征进行了描述,并以其位置与姿态解耦的特点为突破口开发了机械臂的运动学算法;最后通过MATLAB仿真工具,通过绘制机械臂轨迹曲线对正逆运动算法进行仿真,验证算法的有效性以及其跟踪轨迹时的精确性.