基于螺旋理论模块化机器人运动学分析与仿真

基于螺旋理论对模块化机器人的速度级和位移增量级运动学关系进行了分析,开发了模块化冗余度机器人的逆运动学控制算法.针对模块化机器人可能具有任意自由度和任意构型、可以经常快速安装和拆卸、易于可重构且由系列化、标准化部件组合的特性,开发了具有自动建模功能的模块化机器人仿真系统.该仿真系统由模块构造器、机器人建造器、图形示教和运动规划仿真器等分系统组成.通过一个7-DOF模块化串联机器人抓放工件的演示实例验证了所提算法和仿真系统的实用性.

Kinematic analysis and simulation for modular manipulators based on screw theory

Based on the screw theory, through analyzing the kinematic relationship ot modular robots tor velocity model and incremental displacement model, an inverse kinematic approach was developed for modular redundant robots. Since it can be assumed that modular robots have any possible DOFs and configurations, will be assembled and disassembled often, and are easily reconfigured because of having the series and standardization components, a simulation system with self-modeling function for modular manipulators was developed. This simulation system consists of module editor, robot builder, graphical teaching pendants, and motion planning pendants. The effectiveness of the proposed approach and simulation system was demonstrated by a 7-DOF modular serial robot with pick and place demonstration.