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开发具有手脚融合功能的四足步行机器人可以加快四足机器人实际运用。介绍了一种具有手脚融合功能的新型四足步行机器人的结构。在机器人的机体上,安装有图像捕捉系统,用于引导机器人完成对目标物的抓取。描述了机器人抓取状态下的运动关系,建立了用于物体捕捉的四足步行机器人的运动误差模型。在对抓取状态逆运动学分析的基础上,讨论了图像捕捉系统误差与机器人的工作臂参数误差之间的关系。给出了详细的计算公式。并以一个实例说明了分析过程。该模型可用于机器人抓取状态下的运动控制与误差补偿。
Developing quadruped walking robots with hands and feet fusion can speed up the practical use of quadruped robots. This paper introduces the structure of a new four-legged walking robot with fusion of hands and feet. In the body of the robot, an image capture system is installed to guide the robot to complete the capture of the target. Describes the motion relationship of robotic grasping and establishes the motion error model of four-legged walking robot for object capture. Based on the inverse kinematics analysis of the grasping condition, the relationship between the error of the image capturing system and the parameter of the working arm of the robot is discussed. Given a detailed calculation formula. An example is given to illustrate the analysis process. The model can be used for motion control and error compensation in robotic grasping.