UR机械臂逆运动学解析解
ur10机械臂的DH(修正)参数为
d1=0.1273;a2=-0.612;a3=-0.5723;d4=0.163941;d5=0.1157;d6=0.6922;
首先,推导机械臂的正向运动学方程,根据DH参数可以计算机械臂的正向运动学方程表示为:
0 T 6 = 0 T 1 1 T 2 2 T 3 3 T 4 4 T 5 5 T 6 = [ n x o x a x p x n y o y a y p y n z o z a z p z 0 0 0 1 ] {}^0T_6={}^0T_1 {}^1T_2 {}^2T_3 {}^3T_4 {}^4T_5 {}^5T_6=\left[ \begin{array}{cccc} n_x & o_x &a_x &p_x\\ n_y&o_y &a_y &p_y\\ n_z &o_z & a_z&p_z\\ 0 &0 & 0&1 \end{array} \right] 0T6=0T11T22T33T44T55T6=⎣⎢⎢⎡nxnynz0oxoyoz0axayaz0pxpypz1⎦⎥⎥⎤
其中
0 T 1 = [ c 1 − s 1 0 0 s 1 c 1 0 0 0 0 1 d 1 0 0 0 1 ] {}^0T_1 =\left[ \begin{array}{cccc} c1 & -s1 &0 &0\\ s1&c1 &0 &0\\ 0 &0 & 1&d_1\\ 0 &0 & 0&1 \end{array} \right] 0T1=⎣⎢⎢⎡c1s100−s1c100001000d11⎦⎥⎥⎤, 1 T 2 = [ c 2 − s 2 0 0 0 0 − 1 0 s 2 c 2 0 0 0 0 0 1 ] {}^1T_2 =\left[ \begin{array}{cccc} c2 & -s2 &0 &0\\ 0 &0 & -1&0\\ s2&c2 &0 &0\\ 0 &0 & 0&1 \end{array} \right] 1T2=⎣⎢⎢⎡c20s20−s20c200−1000001⎦⎥⎥⎤,
2 T 3 = [ c 3 − s 3 0 a 2 s 3 c 3 0 0 0 0 1 0 0 0 0 1 ] {}^2T_3 =\left[ \begin{array}{cccc} c3 & -s3 &0 &a_2\\ s3&c3 &0 &0\\ 0 &0 & 1&0\\ 0 &0 & 0&1 \end{array} \right] 2T3=⎣⎢⎢⎡c3s300−s3c3000010a2001⎦⎥⎥⎤, 3 T 4 = [ c 4 − s 4 0 a 3 s 4 c 4 0 0 0 0 1 d 4 0 0 0 1 ] {}^3T_4 =\left[ \begin{array}{cccc} c4 & -s4 &0 &a_3\\ s4&c4 &0 &0\\ 0 &0 & 1&d_4\\ 0 &0 & 0&1 \end{array} \right] 3T4=⎣⎢⎢⎡c4s400−s4c4000010a30d41⎦⎥⎥⎤,
4 T 5 = [ c 5 − s 5 0 0 0 0 − 1 − d 5 s 5 c 5 0 0 0 0 0 1 ] {}^4T_5 =\left[ \begin{array}{cccc} c5& -s5 &0 &0\\ 0 &0 & -1&-d_5\\ s5&c5 &0 &0\\ 0 &0 & 0&1 \end{array} \right] 4T5=⎣