摘要
为解决三维绘图软件中刚体描述方式与传统机器人DH模型中坐标系描述方式不一致,导致设计人员对机器人结构修改带来不便的问题,提出了一种改进DH模型方法,用于建立机器人运动学模型,并对模型进行运动学正反解计算。通过对计算得到的解析解与数值仿真结果进行对比,验证改进方法的可行性。结果表明,改进DH模型法有较好的运动学正反解求解效果,是一种有效的机器人运动学建模方法,对机器人运动学建模方式具有一定参考价值。
The description of the rigid body in the 3D drawing software is inconsistent with the description of the coordinate system in the traditional robot DH model,which causes the designer to inconvenience the modification of the robot structure.In order to solve this problem,this paper proposes an improved DH model method for establishing the kinematics model of the robot and calculating the forward and inverse kinematics of the model.The feasibility of the improved method was verified by comparing the calculated solution with the numerical simulation results.The results show that the improved DH model method has better kinematics forward and inverse solution,and it is an effective robot kinematics modeling method.It has certain reference value for robot kinematics modeling.
作者
达悦生
郑楚悦
孙茂荣
DA Yuesheng;ZHENG Chuyue;SUN Maorong(State Nuclear Power Plant Service Company,Shanghai 200233,China)
出处
《机械与电子》
2019年第10期72-75,80,共5页
Machinery & Electronics
基金
国家重大专项(2015ZX06002005)
