Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm

Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm
复制标题

Lynx 6 机械臂运动分析软件开发

DOI：
--
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Mehmet Serdar Guzel
Mehmet Serdar Guzel
中科院分区：
--
文献类型：
--
作者：
B. Koyuncu;Mehmet Serdar Guzel

文献摘要

被引文献

相似文献

- 机械手的运动学是机械手自动控制的核心问题。本文介绍了五自由度Lynx-6教学机器人手臂运动学分析的理论背景。运动学问题被定义为从笛卡尔空间到关节空间的变换，反之亦然。在这项研究中，Denavit-Harbenterg（D-H）模型的表示被用来建模机器人连杆和关节。给出了该教学机械手的运动学正解和逆解，提出了一种有效的方法来减少逆解中的多解问题。开发了一个用于Lynx-6机器人手臂运动特性测试的可视化软件包MSG，该软件包的运动学解与机器人手臂的物理运动行为一致。
— The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for this educational manipulator are presented, An effective method is suggested to decrease multiple solutions in inverse kinematics. A visual software package, named MSG, is also developed for testing Motional Characteristics of the Lynx-6 Robot arm. The kinematics solutions of the software package were found to be identical with the robot arm’s physical motional behaviors.