| Manipulators plays an important part in human activities, whose applications refer to manufacturing, medical care and agriculture. The kinematics analysis and trajectory planning is a hot topic in this research field. Based on the structural characteristics and kinematics constraint of MT-arm manipulator which meets the Pieper condition, an approach for the inverse kinematics analysis is proposed, and then a trajectory planning method for this kind of manipulators is discussed. The redundant manipulator PowerCube is investigated and its inverse kinematics is analyzed.The research of this dissertation can be summarized as follows:This paper proposed an approach for kinematics analysis of the modular manipulator which meets the Pieper condition, discussed the characteristics of the two kind of6-DOF modular manipulator MT-Arm and PowerCube. Based on the structural characteristics and kinematics constraint, the D-H method is used to describe the workspace of manipulator, by which the kinematics equations with angle variables are generated and then analyzed the feasibility of this model and got the inverse kinematics by inverse matrix analysis method. The redundant manipulator PowerCube is investigated and its inverse kinematics is analyzed. Finally, the correctness of the kinematics model the manipulator and the feasibility of the method for kinematics inverse solution are verified by simulation of the MT-Arm and PowerCube manipulator.Based on the structural characteristics and kinematics constraint of MT-arm manipulator, a3-5-3polynomial function trajectory planning approach is discussed in the Descartes coordinate system. The Trajectory between the initial position and the target position is planned using a polynomial function to track the given path along the time axis. The simulation results to estimate the curves are smooth and continuous, can be used for the manipulator end-effector trajectory planning. |
PDF Full Text Request