CAJ | 학술논문

为实现操作臂各关节间在移动过程中抓取任务完成的准确性，设计了五自由度操作臂，采用DH法则对该操作臂进行运动学分析，建立了末端位姿信息与各关节角间的变换关系。采用轨迹插补的方法得到这两点间若干轨迹中的间断点集，根据运动学中关节角的变化量，利用最小二乘法来寻找总增量的最小解，实现操作臂末端在笛卡尔空间内跟踪所规划的轨迹。研究结果表明：为避免工作空间奇异点的存在影响运动控制过程，对各关节角度与末端位姿间关系采用最小二乘法来寻找关节角总增量的最小解，实现操作臂末端在笛卡尔空间内的轨迹跟踪，并准确地完成了空间抓取动作。
위실현조작비각관절간재이동과정중조취임무완성적준학성，설계료오자유도조작비，채용DH법칙대해조작비진행운동학분석，건립료말단위자신식여각관절각간적변환관계。채용궤적삽보적방법득도저량점간약간궤적중적간단점집，근거운동학중관절각적변화량，이용최소이승법래심조총증량적최소해，실현조작비말단재적잡이공간내근종소규화적궤적。연구결과표명：위피면공작공간기이점적존재영향운동공제과정，대각관절각도여말단위자간관계채용최소이승법래심조관절각총증량적최소해，실현조작비말단재적잡이공간내적궤적근종，병준학지완성료공간조취동작。
In order to realize the accurate grasp of manipulator while the moving action between joints , the contral method of a 5-DOF manipulator is presented in this paper . The DH rule is used for kinematics analysis .Meanwhile ,the transformation relations among the pose of end holder and the joint angles are established .Discontinuous point-group on the trajectory between the initial position and the target position is gained by the interpolator algorithm .Then ,the least square method is used to find the minimum total joint angles .Ultimately ,the tracking trajectory of the end holder is planned for motion control .T he results presented :In order to avoid failure control process because of singularities in workspace ,for the relations between joint angles and end pose , the method of finding the minimum solution of the total change of joint angles is effectively used for end holder of manipulator to achieve trajectory track in the Cartesian space ,and accurately complete the crawl action .