Abstract
The robot kinematic model is the basis of motion control, calibration, error analysis, etc. Considering these factors, the kinematic model needs to meet the requirements of completeness, model continuity, and minimality. DH model as the most widely used method to build robot kinematic model still has problems in completeness, model continuity, and calculation, especially for robots with complex mechanisms such as closed chain mechanism and branch mechanism. In this paper, an improved kinematic modeling method is proposed based on the cooperation of the DH model and the Hayati and Mirmirani model and considering the Lie group concept. The improved model is complete and continuous, and when combining with Lie group to calculate, it avoids numbers of trigonometric functions and antitrigonometric functions in the process so as to optimize the algorithm. With this method, the kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated. The results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct and the numerical calculation method can solve the problem correctly. The kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot.
Highlights
Industrial robots are usually composed of the base, the endeffector, and several links connected by joints. e pose of the end-effector of the robot is determined by the angle or displacement of each joint
A new kinematic modeling method is proposed based on the cooperation of the DH model and the Hayati and Mirmirani model and considering the Lie group concept
The kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated with the Lie group theory. e results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct, and the numerical calculation method can solve the problem correctly. e kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot
Summary
E robot kinematic model is the basis of motion control, calibration, error analysis, etc. Considering these factors, the kinematic model needs to meet the requirements of completeness, model continuity, and minimality. E improved model is complete and continuous, and when combining with Lie group to calculate, it avoids numbers of trigonometric functions and antitrigonometric functions in the process so as to optimize the algorithm. With this method, the kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated. The kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated. e results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct and the numerical calculation method can solve the problem correctly. e kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot
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