服务机器人的双臂运动学仿真研究

目前服务机器人存在结构复杂、价格昂贵等问题，课题组设计了能满足日常服务的四自由度服务机器人的双臂。设计服务机器人双臂的主要结构：采用D H法建立各臂连杆的参考坐标系；求解了运动学的正逆解；利用MATLAB编程求解单臂的工作空间；利用MATLAB建立双臂运动仿真模型。空间轮廓运动仿真结果验证了正逆运动学求解的正确性。该双臂工作空间能满足日常服务需求。

Study on Kinematics Simulation of Dual Arm of Service Robot

According to the problems of complex structure and high price of service robots, dual arm of Four Degree of Freedom service robots were designed to satisfy the daily service. The main structure design of the dual arm was designed, and the reference coordinate system of each arm connecting rod was established by D H method, the forward and inverse kinematics solutions were solved, further MATLAB programming was used to solve the workspace of the single arm, and to establish the simulation model of the dual arm movement. The spatial contour diagram shows that the dual arm workspace can meet the daily service requirements. The motion simulation results show that the forward and inverse kinematics solutions are correct.