CAJ | 학술논문

针对川崎机械臂FS03 N的构型特点，提出了一种逆运动学的求解方法。采用DH法建立了机械臂的连杆坐标系，得到正运动学方程，通过变量分离将机械臂姿态采用欧拉角表示，得到了机械臂位姿的一组广义坐标。通过对FS03N的构型分析，采用几何法与反变换法相结合的方法，以解的组合关系为基础，得到了机械臂的8组封闭解。建立了基于Matlab的机械臂算法验证与3D仿真运动平台，验证了逆运动学解算的正确性，为机械臂的轨迹与路径规划提供了前提条件。
침대천기궤계비FS03 N적구형특점，제출료일충역운동학적구해방법。채용DH법건립료궤계비적련간좌표계，득도정운동학방정，통과변량분리장궤계비자태채용구랍각표시，득도료궤계비위자적일조엄의좌표。통과대FS03N적구형분석，채용궤하법여반변환법상결합적방법，이해적조합관계위기출，득도료궤계비적8조봉폐해。건립료기우Matlab적궤계비산법험증여3D방진운동평태，험증료역운동학해산적정학성，위궤계비적궤적여로경규화제공료전제조건。
According to the configuration characteristics of the industrial manipulator Kawasaki FS03N, an in-verse kinematics procedure was proposed.The DH method was employed to establish the coordinate system of connecting links.A group of completely generalized coordinates was obtained by variable separation of manipula-tor posture matrix using Euler angles.According to the relationship of solutions, 8 groups of closed-form solu-tion were obtained by using the method of combining geometric method and inverse transformation method through the analysis of FS03N configuration.The correctness of inverse kinematics algorithm was proved by the manipula-tor motion 3D simulation platform established based on Matlab, which provides the premise condition of trajectory and motion planning of manipulator .