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机器人最主要的执行机构是机械臂,它是由一系列连杆通过转动或移动关节串联而成的。机械臂结构设计与机械臂正、逆运动学公式推导有着密切关系。针对自行设计开发的五自由度机械臂模型,根据机械臂运动学原理,提出了一种改进D-H方法建立机械臂各关节坐标系,从而推导出了五自由度机器人机械臂运动学数学模型,并得出了相应的数学函数公式。通过在MATLAB中对建立的修改D-H模型进行正、逆运动学计算,并对机械臂进行可视化仿真。仿真结果与数学函数公式推导结果一致,表明了理论模型和算法的正确性,为后续的机械臂轨迹规划和控制系统夯实了基础。
The robot’s main actuator is a robotic arm, which is a series of connecting rods by rotating or moving joints in series. The structure design of manipulator is closely related to the derivation of positive and inverse kinematics of manipulator. According to the five-DOF manipulator model designed and developed by ourselves, an improved DH method is proposed to establish the joint coordinate system of the manipulator based on the kinematics principle of the manipulator. The kinematics mathematical model of the manipulator with five degrees of freedom is deduced Obtained the corresponding mathematical function formula. The positive and inverse kinematics calculations of the established modified D-H model are carried out in MATLAB, and the robot arm is visualized and simulated. The simulation results are in good agreement with the mathematical function formulas, which shows the correctness of the theoretical model and algorithm, laying a solid foundation for the following robotic trajectory planning and control system.