CAJ | 학술논문

针对6R串联机器人运动学求解计算量大、传统方法求解困难以及涉及多解和奇异性等问题，在普吕克坐标系（Plücker Coordinate）下描述了刚体运动，建立刚体运动的四元数数学模型，进一步建立了6R串联机器人运动学几何数学模型，从而可以方便的求得6R串联机器人8组运动学逆解。最后，以一种串联机器人为例，利用Matlab/Simulink模型进行算法计算，最后用Matlab/robot toolbox进行结果验证。与传统方法相比，采用该方法求解串联机器人运动学，计算简洁、精度高、具有普遍通用性，有利于改善计算机控制的实时性。
침대6R천련궤기인운동학구해계산량대、전통방법구해곤난이급섭급다해화기이성등문제，재보려극좌표계（Plücker Coordinate）하묘술료강체운동，건립강체운동적사원수수학모형，진일보건립료6R천련궤기인운동학궤하수학모형，종이가이방편적구득6R천련궤기인8조운동학역해。최후，이일충천련궤기인위례，이용Matlab/Simulink모형진행산법계산，최후용Matlab/robot toolbox진행결과험증。여전통방법상비，채용해방법구해천련궤기인운동학，계산간길、정도고、구유보편통용성，유리우개선계산궤공제적실시성。
For the calculating of 6R series robot kinematics is an arduous task , it is hard to deal with the multiple solutions and the singularity problem in the way of traditional method to calculating of 6R series robot kinematics , this paper describes the rigid body motion in Plücker coordinate,establishes the rigid body motion of the mathematical model based on quaternions , further establishes 6R serial robot kinematics geometry mathematical model, which can be easily to solve the 6R serial robot inverse kinematics and get the 8 group’s conclusions . By the presented method, the inverse kinematics of a serial mechanism is given as an example. The results show that compared with traditional methods, the method is simple, high accuracy, of universal used, will do work to improve the real-time computer control.