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matlab机械臂逆运动学 - 为满足工业设计哲学博士学位授予要求而提交的论文 工业机器人操纵器的一个重要部分是实现末端执行器或工具的期望位置和方向,以完成预先指定的任务。要实现上述目标,必须具备运动学逆问题的扎实知识。求逆运动学解的问题一直是各个研究者的重点,并被认为是一个经过深入研究和成熟的问题。 机器人操纵器在执行给定任务方面有许多应用领域,例如材料搬运、拾取-放置、行星和海底探索、空间操纵和危险领域等。此外,医疗领域机器人在康复和外科手术中也有应用,涉及运动学、动力学和控制操作。因此,工业机器人操纵器需要对其关节变量有适当的了解,并了解运动学参数。末端执行器或操纵器的运动由其关节执行器控制,这会在每个关节中产生所需的运动。因此,控制器应始终提供与末端执行器位置类似的关节变量的精确值。尽管工业机器人处于高级阶段,但运动学中的一些基本问题仍然没有解决,并成为研究的积极焦点。在这些尚未解决的问题中,并联机构的正运动学问题和串联链的逆运动学问题占据了相当大的研究领域。机器人机械手的正运动学是一个简单的问题,它具有唯一或封闭的形式解。正运动学可以通过将操纵器的关节空间转换为笛卡尔空间来给
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Inverse Kinematic Analysis of Robot
Manipulators
A THESIS SUBMITTED IN FULFILMENT OF
THE REQUIREMENT FOR THE AWARD OF THE DEGREE
OF
Doctor of Philosophy
IN
INDUSTRIAL DESIGN
BY
Panchanand jha
(Roll. No. 511ID101)
NATIONAL INSTITUTE OF TECHNOLOGY
ROURKELA, INDIA
July-2015

b

Dr. Bibhuti Bhusan Biswal
Professor
Department of Industrial Design
NIT, Rourkela
CERTIFICATE
This is to certify that the thesis entitled ―Inverse Kinematic Analysis of Robot
Manipulators‖ being submitted by Panchanand Jha for the award of the degree of
Doctor of Philosophy (Industrial Design) of NIT Rourkela is a record of bonafide
research work carried out by him under my supervision and guidance. He has worked
for more than three years on the above problem at the Department of Industrial Design,
National Institute of Technology, Rourkela and this has reached the standard fulfilling
the requirements and the regulation relating to the degree. The contents of this thesis, in
full or part, have not been submitted to any other university or institution for the award
of any degree or diploma.
(Dr. B. B. Biswal)
NATIONAL INSTITUTE OF TECHNOLOGY
ROURKELA, INDIA

ii
ACKNOWLEDGEMENT
This dissertation is a result of the research work that has been carried out at National
Institute of Technology, Rourkela. During this period, the author came across with a great
number of people whose contributions in various ways helped in the field of research and
they deserve special thanks. It is a pleasure to convey the gratitude to all of them.
First of all the author expresses his heartiest gratitude to his supervisor and guide Dr. B. B.
Biswal, Professor and Head, Department of Industrial Design, NIT, Rourkela for his valuable
guidance, support and encouragement in the course of the present work. The successful and
timely completion of the work is due to his constant inspiration and constructive criticisms.
The author cannot adequately express his appreciation to him. The author records his
gratefulness to Madam Mrs. Meenati Biswal for her constant support and inspiration during
his work and stay at NIT, Rourkela.
The author take this opportunity to express his deepest gratitude to Prof. M.R. Khan, Head
of the Department and Prof. D. S. Bisht, of the Department of Industrial Design, NIT
Rourkela for constant advice, useful discussions, encouragement and support in pursuing the
research work.
The author is grateful to Prof. S.K. Sarangi, Director, NIT, Rourkela, Prof. R.K. Sahoo,
former Head of Mechanical Engineering Department, NIT, Rourkela, for their kind support
and concern regarding his academic requirements.
The author also expresses his thankfulness to Mr. H. Mishra, Mr. V. Mishra, Mr. A Jha,
Mr. A. Agrawal, Mr. A. Ganguly and Mr. S. Chandrakar, Department of Mechanical
Engineering and Mr. M. V. A. Raju, Mr. O. P. Sahu, Mr. R. N. Mahapatra, Mr. B.
Balabantaray, and Mr. P. Parida, researchers in NIT Rourkela for unhesitating cooperation
extended during the tenure of the research programme.
The completion of this work came at the expense of author’s long hours of absence from
home. Words fail to express his indebtedness to his wife Vibha, loving son Sambhav, loving
Niece Maulli, and nephew Osho-Prince-Darsh for their understanding, patience, active
cooperation and after all giving their times throughout the course of the doctoral dissertation.
The author thanks them for being supportive and caring. His parents and relatives deserve
special mention for their inseparable support and prayers.
Last, but not the least, the author thank the one above all, the omnipresent God, for giving
him the strength during the course of this research work.
Panchanand Jha

iii
Abstract
An important part of industrial robot manipulators is to achieve desired position and
orientation of end effector or tool so as to complete the pre-specified task. To achieve
the above stated goal one should have the sound knowledge of inverse kinematic
problem. The problem of getting inverse kinematic solution has been on the outline of
various researchers and is deliberated as thorough researched and mature problem.
There are many fields of applications of robot manipulators to execute the given tasks
such as material handling, pick-n-place, planetary and undersea explorations, space
manipulation, and hazardous field etc. Moreover, medical field robotics catches
applications in rehabilitation and surgery that involve kinematic, dynamic and control
operations. Therefore, industrial robot manipulators are required to have proper
knowledge of its joint variables as well as understanding of kinematic parameters. The
motion of the end effector or manipulator is controlled by their joint actuator and this
produces the required motion in each joints. Therefore, the controller should always
supply an accurate value of joint variables analogous to the end effector position. Even
though industrial robots are in the advanced stage, some of the basic problems in
kinematics are still unsolved and constitute an active focus for research. Among these
unsolved problems, the direct kinematics problem for parallel mechanism and inverse
kinematics for serial chains constitute a decent share of research domain. The forward
kinematics of robot manipulator is simpler problem and it has unique or closed form
solution. The forward kinematics can be given by the conversion of joint space to
Cartesian space of the manipulator. On the other hand inverse kinematics can be
determined by the conversion of Cartesian space to joint space. The inverse kinematic
of the robot manipulator does not provide the closed form solution. Hence, industrial
manipulator can achieve a desired task or end effector position in more than one
configuration. Therefore, to achieve exact solution of the joint variables has been the
main concern to the researchers.
A brief introduction of industrial robot manipulators, evolution and classification is
presented. The basic configurations of robot manipulator are demonstrated and their
benefits and drawbacks are deliberated along with the applications. The difficulties to
solve forward and inverse kinematics of robot manipulator are discussed and solution of
inverse kinematic is introduced through conventional methods. In order to accomplish
the desired objective of the work and attain the solution of inverse kinematic problem
an efficient study of the existing tools and techniques has been done.
A review of literature survey and various tools used to solve inverse kinematic problem
on different aspects is discussed. The various approaches of inverse kinematic solution
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