Inverse Kinematics And Simulation Of Space Free-Fly Ling Redundant Degrees Of Freedom Robot

There are so many scurviness status in space such as weightlessness, strongradiation and other harsh environments all day. Astronauts can only work in cabin fora short-term, can not take care them for a long-term. Space robots need with moreflexibility and space to work in Narrow capsule. Increase more degrees of freedom inorder to increase the flexibility of the robot joint degrees of freedom, The joint spacedimension than the dimension of the task space and increase the joint degrees offreedom is called redundant free, increase the joint degrees of freedom known as theredundant degrees of freedom. Compared with the non-redundant robot such robotscan be fault-tolerant control. Robot could also lock the links or reduce its speed,Whenthe a part of robot is damaged, It has variety Bit-shaped can be avoided obstacles foraffect the choice of the path, so the work have more flexible to work.This topic using the decomposition method divided the seven redundant degreesof freedom robot into two parts. one is the rail,other one is six degrees of freedomrobot. Firstly, select Mechanical structure of the redundant degrees of freedom robot.Establishment of the coordinate system of the robot link parameters, Secondly usingthe DH parameters. to establish the coordinate system of the robot link parameters.six degrees of freedom robot transformation matrix is calculated by DH parameters.Thirdly, use displacement sensor of rail motor for the displacement value added to therobot pose equations of six degrees of freedom have been calculated.Get the sevenredundant degrees of freedom robot real-time position posture equation by thetransformation matrix of six degrees of freedom robot and displacementvalue.forthly,Obtain the calculate of robot inverse kinematics by algebraic method.Fourthly,Robotics Toolbox verificate the method of inverse kinematics and all theparameters of robot.UG/Open API created a three-dimensional features automatic identificationmodule and motion simulation module. MFC and UG/Open established the UG dialogbox interface and Back-end database communication.Rotate and move program Bycomputer graphics.write a collision detection gramme, Matlab Calculates theworkspace data. Robot motion simulation using virtual assembly technology.Interpolation algorithm densify curves between start point and end point data incartesian coordinate space. inverse kinematic is calculated from the beginning to the end of each location by point by point interpolation method. In order to enhance theimage fidelity and continuity of the movement, multi-valued solutions of optimization,select a best curve fitting with the trajectory. Finally, UG graphical interface displayedthe inverse kinematics of robot simulation.