%0 Journal Article %T 基于工作区域划分定位法的煤炭采样机械臂逆运动学分析<br>Analysis for Inverse Kinematics of Coal Sample Manipulator Based on Working Area Partition and Positioning Method %A 李龙龙 %A 贺利乐 %A 李姣姣 %A 山涛 %A 李赵兴 %J 机械科学与技术 %D 2015 %X 为了实现对煤炭采样机械臂的精确控制,对采样机械臂的逆解结果进行了择优确定。通过运动学逆解求得逆解组,并采用工作区域划分定位法,在划分好的工作区域内定位出所属区域,根据所属区域内各连杆的运动范围,确定出在少移动大关节,多移动小关节的择优原则下的运动学逆解的最优解,并通过随机选择采样机械臂的工况下的目标位姿,将目标位姿和逆解结果产生的位姿进行了对比,其误差完全符合工作需求,验证了该方法的正确性。得到了各关节运动量,实现了采样机械臂末端执行器的精确定位。<br>This paper is aimed at controlling coal sample manipulator accurately, and the determination of preferential orientation for inverse kinematics solutions. Getting inverse solutions group through the inverse kinematics analysis and adopting working area partition and positioning method, we obtain the optimization of inverse kinematics solutions. Under the principle of large joints with less move and small with more, based on range of movement of every connecting rod in the working area devided, and verifying the correctness with selecting the working condition of randomly with comparing the target position with the new position caused by inverse kinematics solution. Through analyzing, the accurate positioning of coal sample manipulator and joint movement came out %K 煤炭采样机械臂 %K 逆解择优 %K 工作区域划分< %K br> %K coal sample manipulator %K control %K errors %K kinematics %K manipulators %K MATLAB %K matrix algebra %K optimization %K optimization of inverse kinematics solutions %K real time control %K schematic diagrams %K working area division %U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6174.shtml