期刊论文

Inverse kinematics of 6-DOF hybrid manipulator for forest-fruit harvest based on screw theory

中文

农业工程学报

1002-6819

2019

35

8

75-82

10.11975/j.issn.1002-6819.2019.08.009

湖南省科技重大专项(2017NK1010) 国家自然科学基金(51475483).

本校为第一机构

针对传统Paden-Kahan子问题求解机械臂运动学逆解时需确定关节轴线交点坐标的问题,对该子问题进行改进。利用末端执行器位姿信息获取轴线交点坐标,建立物体坐标与末端执行器期望位姿的映射关系,结合子问题求解6自由度林果采摘机械臂运动学逆解;根据主动关节变量取值范围分析所求逆解的可行性,得到可行封闭解,提高机械臂控制速度、稳定性和准确性。在实验室环境下利用所提出的算法求解10组工作目标位置信息对应的关节值,结果表明,所求逆解能使林果采摘机械臂到达正确位姿,末端执行器最大位置误差不超过夹持器最大开度的3.30%,最大姿态误差不超过1?,满足采摘要求。该算法为机械臂快速、稳定及精确...

A method for inverse kinematics analysis based on screw theory was presented in this paper, which can directly map the position and orientation of the working object to the joint variables of the manipulator with its application to a full inverse kinematics analysis of forest-fruit harvesting manipulator characterized by a hybrid kinematic structure, 2P4R. The solution of inverse kinematics modeling derived by screw theory was commonly realized by Paden-Kahan sub-problem method, which decomposes a full kinematics problem into sub-problem with o...