面向乒乓球作業(yè)的冗余機(jī)器人手臂最優(yōu)構(gòu)型的研究.pdf

1、南開(kāi)大學(xué)碩士學(xué)位論文面向乒乓球作業(yè)的冗余機(jī)器人手臂最優(yōu)構(gòu)型的研究姓名：王英石申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：計(jì)算機(jī)科學(xué)與技術(shù)；計(jì)算機(jī)應(yīng)用技術(shù)指導(dǎo)教師：劉景泰201105AbstractAbstractInthefieldofroboticskinematicsandmotionplanningplayanimportantstatusToe1313arlCetheflexibilityoftherobotincreasingitsnumbero

2、fdegreesoffreedom，whichmcallsredundantrobots，isoneofthemosteffectivewayInthatcaseitallowstherobottocompleteataskwinlavarietyofalternativesHowevertheincreaseinthenumberofdegreesoffreedomalsomakessolvingtheinversekinematic

3、sofrobotstobecomemolecomplex，includingthecouplingofmultiplejointsandmultiplesolutionsofinversekinernaties，thenitisdifficulttochoosetheoptimizationsolutionsTherefore，thestudyofredundantrobotsisanimportantsignificanceInthi

4、sarticle，WewillstudyOnthekinematicsofredundantrobotbyahumanoidrobotplayingtable—tennisFirstofaUtheconceptoftheoperatingspaceisintroducedforarobotaimwitllsixdegreesoffreedom，basedonthisconcept，theoperatingspaceofthearmisg

5、iveninaccordancewinltheconfigurationoftherobot’sannInthesecondplace，onthebasisofthefeatureofthetabletennis，wedeterminetheinitialmatrixforinversekinematicsbyoptimizingtheangularspeedofeachjoint’andthensolvetheangularspeed

6、ofeachjointSOthattheoptimalconfigurationoftherobotisdeterminedFinallyinordertoimprovetheeffectofthehumanoidrobotsevelldegreesoffreedomhumanoidarmisintroducedByanalyzingthefeatureofhumanoidlllm，thereferenceplaneangleisint

7、roducedand、^，i血thatWeoptimizetheinversekinematics，JointangleandangularspeedareoptimizedrespectivelyAfterthecheckoftheactualexperimentthemethodissufficientlyprovedavailablyKeywords：RedundantrobotTable—tennisrobotKinematic