宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (11): 1262-1273.doi: 10.3873/j.issn.1000-1328.2019.11.002

• 综述 • 上一篇    下一篇

机械臂运动学建模及解算方法综述

冷舒，吴克，居鹤华   

  1. 1. 南京航空航天大学航天学院，南京 210016；2. 北京空间飞行器总体设计部，北京 100094
  • 收稿日期:2019-04-15 修回日期:2019-05-16 出版日期:2019-11-15 发布日期:2019-11-25
  • 基金资助:
    国家自然科学基金（61673010）

Overview of Manipulator Kinematics Modeling and Solving Method

LENG Shu, WU Ke, JU He hua   

  1. 1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
  • Received:2019-04-15 Revised:2019-05-16 Online:2019-11-15 Published:2019-11-25

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摘要： 以串联结构的机械臂为主要研究对象，首先调研了国内外机械臂正逆运动学建模及求解的主流方法，从数学工具、模型建立、求解手段等三个方面分析上述方法的基本原理，分析其优缺点。接着介绍了工程应用中解决机械臂运动学建模及求解问题所用的软件库，得到了不同软件库的精度和计算效率。最后提出了机械臂运动学建模及求解中存在的重要科学问题。通过总结上述方法，为研究人员在该领域内的理论研究及工程实现提供解决思路。

关键词: 机械臂, 正运动学；逆运动学；建模；计算方法

Abstract: This paper focuses on the manipulator kinematics modeling and solving approach. It introduces the outstanding methods for a chain-type manipulator in the areas of mathematic representation, kinematic model building and solving method. The advantage and disadvantage of those methods are discussed in the paper. Moreover, the open sources for the practical project are demonstrated, and the computational accuracy and efficiency are analyzed. In the end, the key theory and technique problems to be solved are discussed in depth. The summarization mentioned above provides a way to model and solve the kinematics of the manipulator.

Key words:  Manipulator, Forward kinematics, Inverse kinematics, Modeling, Calculation method

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