六自由度装校机器人雅可比矩阵的建立及奇异性分析

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针对六自由度装校机器人,通过D-H法建立了各连杆的参考坐标系,给出了装校机器人各连杆与末端执行器的位姿关系,并推导出装校机器人的运动学正解方程。采用微分变换法求得机器人雅可比矩阵并对装校机器人进行了奇异性分析,为装校机器人在实际装校作业环境中的轨迹规划及实时控制提供了理论基础和重要数据。 Aimed at a 6--DOF installing--calibrating robot, coordinate systems of joints were set up and D--H parameters were obtained by using D--H methods. Then the positions of its moving elements and end--effectors with their relationship were presented and the forward kinematic solution were derived. A Jacobian matrix of the installing--calibrating robot was established based on differential methods. And singular values of the Jacobian matrix and the condition numbers of installing--cali- brating robot were analyzed. It provides the theoretical basis and important data for the robot trajectory planning and online real--time calculation under actually working environments.