哈工大PUMA机器人大作业.docxVIP

2017 年 秋 季学期研究生课程考核（读书报告、研究报告）考核科目: 机器人技术学生所在院（系）: 机电学院学生所在学科: 机械电子学 生 姓 名: 王学 号: 17S学 生 类 别: 学硕考察结果: 阅卷人:PUMA 机器人正逆运动学推导及运动空间解算图1 PUMA 机器人模型任务:建立坐标系；给出D-H参数表；推导正、逆运动学；编程得工作空间。建立坐标系根据PUMA 机器人运动自由度，在各关节处建立坐标系如图2所示。图2 PUMA 机器人坐标系建立图其中与原点交于一点, 与原点交于一点。D-H参数表D-H参数表可根据坐标系设定而得出，见表1。为绕轴，从到的角度；为绕轴，从到的角度；为沿轴，从与交点到的距离；为沿轴，从与到的距离。杆件变量（当前值）变量范围1002304050060表1 PUMA 机器人杆件参数表正运动学推导由坐标系及各杆件参数可得到6个连杆变换矩阵。 根据各连杆变换矩阵相乘，可以得到PUMA 机械手变换矩阵，其矩阵为关节变量的函数。将上述变换矩阵逐个依次相乘可以得到。等式联立，对比等式左右两侧元素可得：nx=sin(c6)*(cos(c4)*sin(c1)-cos(c2+c3)*cos(c1)*sin(c4))+ cos(c6)*(cos(c5)*(sin(c1)*sin(c4)+cos(c2+c3)*cos(c1)*cos(c4))+ sin(c2+c3)*cos(c1)*sin(c5))；ox=cos(c6)*(cos(c4)*sin(c1)-cos(c2+c3)*cos(c1)*sin(c4))- sin(c6)*(cos(c5)*(sin(c1)*sin(c4)+cos(c2+c3)*cos(c1)*cos(c4))+ sin(c2+c3)*cos(c1)*sin(c5))；ax=sin(c5)*(sin(c1)*sin(c4)+cos(c2+c3)*cos(c1)*cos(c4))- sin(c2+c3)*cos(c1)*cos(c5)；px=d6*(sin(c5)*(sin(c1)*sin(c4)+cos(c2+c3)*cos(c1)*cos(c4))- sin(c2+c3)*cos(c1)*cos(c5))-d2*sin(c1)-d4*sin(c2+c3)*cos(c1)+ a2*cos(c1)*cos(c2)+a3*cos(c1)*cos(c2)*cos(c3)- a3*cos(c1)*sin(c2)*sin(c3)；ny=-sin(c6)*(cos(c1)*cos(c4)+cos(c2+c3)*sin(c1)*sin(c4))- cos(c6)*(cos(c5)*(cos(c1)*sin(c4)-cos(c2+c3)*cos(c4)*sin(c1))- sin(c2+c3)*sin(c1)*sin(c5))；oy=sin(c6)*(cos(c5)*(cos(c1)*sin(c4)-cos(c2+c3)*cos(c4)*sin(c1))- sin(c2+c3)*sin(c1)*sin(c5))-cos(c6)*(cos(c1)*cos(c4)+ cos(c2+c3)*sin(c1)*sin(c4))；ay=-sin(c5)*(cos(c1)*sin(c4)-cos(c2+c3)*cos(c4)*sin(c1))- sin(c2+c3)*cos(c5)*sin(c1)；py=d2*cos(c1)-d6*(sin(c5)*(cos(c1)*sin(c4)- cos(c2+c3)*cos(c4)*sin(c1))+sin(c2+c3)*cos(c5)*sin(c1))- d4*sin(c2+c3)*sin(c1)+a2*cos(c2)*sin(c1)+ a3*cos(c2)*cos(c3)*sin(c1)-a3*sin(c1)*sin(c2)*sin(c3)；nz=cos(c6)*(cos(c2+c3)*sin(c5)-sin(c2+c3)*cos(c4)*cos(c5))+ sin(c2 + c3)*sin(c4)*sin(c6)；oz=sin(c2+c3)*cos(c6)*sin(c4)-sin(c6)*(cos(c2+c3)*sin(c5)- sin(c2+c3)*cos(c4)*cos(c5))；az=-cos(c2+c3)*cos(c5)-sin(c2+c3)*cos(c4)*sin(c5)；pz=-d4*cos(c2 + c3)- a3*sin(c2+c3)-d6*(cos(c2+c3)*cos(c5)+ sin(c2+c3)*cos(c4)*sin(c5))-a2*sin(c2)；上述12个公式中，c1-c6分别对应，将关节变量角度的当前值代入以