煤矿安全2023，Vol.54Issue(12)：233-238,6.DOI:10.13347/j.cnki.mkaq.2023.12.029
煤矿抓管机器人冗余机械臂逆运动学求解算法
Inverse kinematics algorithm for redundant manipulator of coal mine pipe grabbing robot
摘要
Abstract
A coal mine pipe grabbing robot is designed,and its system composition,core parameters and main functions are intro-duced.Based on the structural characteristics and working mode of the pipe grabbing robot and its hydraulic arm in coal mine,the in-verse kinematics solving algorithm of the robot arm based on the fixed angle method and search method is studied,the inverse kin-ematics solving principle of the redundant robot arm is analyzed,and the detailed flow of the algorithm is given.The simulation res-ults show that the joint angle sequence obtained by inverse kinematics can drive the end of the manipulator to the target pose,and the solving process is reliable,which verifies the effectiveness of the algorithm.Compared with other existing inverse kinematics solv-ing algorithms,this algorithm has explicit mathematical expression,so the algorithm deployment cost is low.关键词
煤矿抓管机器人/冗余机械臂/运动规划/逆运动学/解析解Key words
coal mine pipe grabbing robot/redundant robotic arm/motion planning/inverse kinematics/analytical expression分类
矿业与冶金引用本文复制引用
朱明鎏,李梁..煤矿抓管机器人冗余机械臂逆运动学求解算法[J].煤矿安全,2023,54(12):233-238,6.基金项目
国家重点研发计划资助项目(2022YFB4703600) （2022YFB4703600）
