CAJ | 학술논문

广泛使用的标准D-H法允许坐标系建立在轴线的延长线上，会导致不能针对所有关节连杆进行建模、建立的机器人模型与实体不一致，以及无法进行局部关节位置分析等问题。为了得到统一、直观、准确的模型建立方法，提出了一种统一的实体建模方法---坐标系固定在实体上的D-H表示法（简称CFDH法）。说明了CFDH法坐标系建立的方法、参数获取过程。以一个六自由度机械臂作为仿真对象，分别用D-H法和CFDH法对其进行建模，然后采用Newton-Raphson求逆解，比较两者计算复杂度并对两种建模方法进行整体对比。仿真和实验结果表明，C FD H法满足机器人运动学建模的需求，解决了D-H法存在的问题。
엄범사용적표준D-H법윤허좌표계건립재축선적연장선상，회도치불능침대소유관절련간진행건모、건립적궤기인모형여실체불일치，이급무법진행국부관절위치분석등문제。위료득도통일、직관、준학적모형건립방법，제출료일충통일적실체건모방법---좌표계고정재실체상적D-H표시법（간칭CFDH법）。설명료CFDH법좌표계건립적방법、삼수획취과정。이일개륙자유도궤계비작위방진대상，분별용D-H법화CFDH법대기진행건모，연후채용Newton-Raphson구역해，비교량자계산복잡도병대량충건모방법진행정체대비。방진화실험결과표명，C FD H법만족궤기인운동학건모적수구，해결료D-H법존재적문제。
Robot kinematics modeling needs clear physical concepts .Widely used standard D-H method allowed the coordinate system to establish on the extension of axis ,leading to the problems such as inapplicability for all the joints modeling ,the model unmatching the entity and w rong local joint position analysis ,etc .In order to get unified ,intuitive and accurate modeling method ,a unified en-tity modeling method ,the coordinate system fixed on the entity of D-H notation(CFDH) was presen-ted .How to establish the coordinate system with CFDH and the method to obtain the parameters were illustrated;a six DOF mechanical arm model was built using the D-H and CFDH method respectively , and Newton-Raphson inverse solution was used for the two methods ,then comparing with the compu-tational complexity .Simulation and experimental results show that CFDH method meets the require-ments of robot kinematics model ,solved the problems exiting in D-H method .