文档介绍：超冗余机器人运动规划方法与试验
Motion Planning method and experiment of hyper-redundant robot
学 院（系）： 机械工程学院 elivering payloads into tight snake arm robot can enter the environment which is difficult to enter or impossible to enter by manual maintenance, bypass obstacles and reach the target position accurately. It is very suitable for working in narrow confined and dangerous the use of different tools to complete a variety of complex operations, such as in the aircraft wing rib compartment in the narrow environment, nuclear power plant reactor cooling line maintenance operations, beyond the visual barrier to carry out reconnaissance operations on military targets, in the earthquake site search and rescue of trapped , it is of great significance to study serpentine this paper, the motion planning method of rope driven serpentine arm is studied. The main contents are as follows:
(1) Establish kinematics model of serpentine arm DH modeling method was used to establish forward kinematics model of serpentine arm robot and determine joint position relationship.
(2) Establish hyperredundant robot motion planning method in Cartesian inverse kinematics model was determined according to the forward kinematics model and the quintic polynomial method was used for motion planning.
(3) To realize the experimental research on the trajectory of the end circle, square and to the inverse kinematics model, the end motion trajectory is circular, triangular and square respectively.
(4) The motion control test is carried out on the super redundant robot test platform.
Key Words：Snake arm robot;Forward kinematics;Inverse kinematics;Exercise planning
大连理工大学毕业设计（论文）格式规范
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目 录
摘 要 I
Abstract II
1 绪论 1
课题研究背景与意义 1
国内外研究现状 2
主要研究内容 8
2 蛇形臂机器人运动学 9
相关运动学概念 9
9
运动学冗余 10
运动学方程的正解与逆解 10
运动规划 11
蛇形臂机器人运动学建模 1