采用的是John H.Craig在【机器人学导论】中的改进DH模型
1.六轴坐标系
2.DH参数
i | α i − 1 \alpha_{i-1} αi−1 | a i − 1 a_{i-1} ai−1 | d i d_i di | θ i \theta_i θi初值 |
---|---|---|---|---|
1 | 0 | 0 | 0 | 0 |
2 | -90 | a 1 a_1 a1 | 0 | -90 |
3 | 0 | a 2 a_2 a2 | 0 | 0 |
4 | -90 | a 3 a_3 a3 | d 4 d_4 d4 | 0 |
5 | 90 | 0 | 0 | 0 |
6 | -90 | 0 | d 6 d_6 d6 | 0 |
3.相邻关节变换矩阵
3.1 基础变换
i i − 1 T = [ c θ i − s θ i 0 a i − 1 s θ i c α i − 1 c θ i c α i − 1 − s α i − 1 − s α i − 1 d i s θ i s α i − 1 c θ i s α i − 1 c α i − 1 c α i − 1 d i 0 0 0 1 ] (3-1) _{i}^{i-1}T= \left[ \begin{matrix} c\theta_{i} & -s\theta_{i} & 0 & a_{i-1} \\ s\theta_{i}c\alpha_{i-1} & c\theta_{i}c\alpha_{i-1} & -s\alpha_{i-1} & -s\alpha_{i-1}d_{i} \\ s\theta_{i}s\alpha_{i-1} & c\theta_{i}s\alpha_{i-1} & c\alpha_{i-1} & c\alpha_{i-1}d_{i} \\ 0& 0 & 0 & 1 \end{matrix} \right] \tag{3-1} ii−1T=⎣⎢⎢⎡cθisθicαi−1sθisαi−10−sθicθicαi−1cθisαi−100−sαi−1cαi−10ai−1−sαi−1dicαi−1di1⎦⎥⎥⎤(3-1)
3.2 各个轴间变换
按照第二节给出的DH参数。其中 c i = c θ i c_{i}=c\theta_{i} ci=cθi, s i = s θ i s_{i}=s\theta_{i} si=sθi
1 0 T = [ c 1 − s 1 0 0 s 1 c 1 0 0 0 0 1 0 0 0 0 1 ] (3-2) _{1}^{0}T= \left[ \begin{matrix} c_{1} & -s_{1} & 0 & 0 \\ s_{1} & c_{1} & 0 & 0 \\ 0& 0 & 1 &0 \\ 0& 0 & 0 &1 \end{matrix} \right] \tag{3-2} 10T=⎣⎢⎢⎡c1s100−s1c10000100001⎦⎥⎥⎤(3-2)
2 1 T = [ c 2 − s 2 0 a 1 0 0 1 0 − s 2 − c 2 0 0 0 0 0 1 ] (3-3) _{2}^{1}T= \left[ \begin{matrix} c_{2} & -s_{2} & 0 & a_{1} \\ 0 & 0 & 1 & 0 \\ -s_{2}& -c_{2} & 0 &0 \\ 0& 0 & 0 &1 \end{matrix} \right] \tag{3-3} 21T=⎣⎢⎢⎡c20−s20−s2