In order to solve the limitation of the homogeneous transformation matrix method and the screw method in the kinematic modeling of the manipulator,it proposes a new method of kinematic modeling and analysis based on motor algebra.In this method,it uses the point,line and plane entities as the transformation primitives,and derives the motor algebraic transformation of the end-effector to the base coordinate,shows the detail about the motor algebra to solve the inverse kinematics of the manipulator with rendezvous method.Finally,it uses a 5-DOF manipulator to verify the correctness and accuracy of the algorithm.%针对齐次变换矩阵法和旋量法在机械臂运动学建模中所具有的计算量大、实时性差等局限性,提出一种基于马达代数的机械臂运动学建模与分析方法.该方法通过以点、直线、平面实体作为变换基元,对机械臂末端效应器坐标系中表达的特定几何实体进行空间变换,求出末端效应器坐标系相对于基坐标系的马达代数变换量,从而推导出机械臂运动方程.同时将马达代数引入到机械臂逆运动学求解中,提出了一个求解逆运动学问题的有效方法——交会法.最后以5自由度机械臂为例,验证了新算法的正确性与精确性.
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