| 仿人机器人基于旋量理论的运动学分析方法 |
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| 引用本文： | 王小荣,杨晋,刘潇潇,田亚平,任牟华.仿人机器人基于旋量理论的运动学分析方法[J].兰州铁道学院学报,2010,29(1):72-76. |
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| 作者姓名： | 王小荣 杨晋 刘潇潇 田亚平 任牟华 |
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| 作者单位： | 兰州交通大学机电工程学院; |
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| 基金项目： | 甘肃省自然科学基金(2008GS02616) |
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| 摘 要： | 仿人机器人自由度数目多,且不存在固定基座,运动学的分析比一般工业串联机器人要复杂.针对仿人机器人腿部关节的配置特点,提出了基于旋量理论,根据质心和双脚轨迹规划,采用Paden-Kahan子问题法直接求解仿人机器人下肢运动学问题的方法.求解过程表明:该方法建模过程简单,逆运动学求解简便易行.
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| 关 键 词： | 仿人机器人 运动学 旋量理论 |
Screw Theory Based Method of Kinematic Analysis on Humanoid |
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| WANG Xiao-rong,YANG Jin,LIU Xiao-xiao,TIAN Ya-ping,REN Mou-hua.Screw Theory Based Method of Kinematic Analysis on Humanoid[J].Journal of Lanzhou Railway University,2010,29(1):72-76. |
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| Authors: | WANG Xiao-rong YANG Jin LIU Xiao-xiao TIAN Ya-ping REN Mou-hua |
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| Institution: | School of Mechatronic Engineering/a>;Lanzhou Jiaotong University/a>;Lanzhou 730070/a>;China |
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| Abstract: | It is more difficult and sophisticated to analyze the humanoid kinematics than the common industrial serial manipulator's because its DOF is high and it has not a fixed base.Taking the advantages of the characteristics in the configuration of leg's joints,based on the screw theory,according to the trajectories of the center of mass and the feet,a method is proposed to solve the kinematics of humanoid's legs using Paden-Kahan subproblems approach.The solving process implies that the mathematical modeling is ... |
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| Keywords: | humanoid kinematics screw theory |
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