Kinematic Analysis of UR Robots for Mirrored Operation
In order to accelerate the deployment of series robotic arm for mirrored operation,this paper studies the problem of robotic kinematics model mirrored operation.Firstly,analyzes the kinematics of the six-axis robotic arm and gives the problem description.Secondly,in terms of different conditions in joint space,including limitations of joint space,a modeling method is proposed according to the different positions of the base coordinate system of the robotic arm in the world coordinate system,with two cases of symmetry relative to the X-axis and the Y-axis.Finally,a general formula for the mirrored joint angles of the end-effector is given according to the installation direction of the tool.In the experiment part,by taking the UR10 robotic arm as the model,the simulated experiments are built in ROS platform and designed by the robotic kinematics,in the end the rationality of the kinematic model of mirror operation is verified.
6-axis manipulatormirror operationkinematic analysismulti-joint kinematics model
万方数据
维普
