机器人坐标系建立的改进DH方法

针对DH法则建立机器人坐标系的局限性,提出一种建立在DH法则基础上的辅助方法——辅助坐标法。阐述辅助坐标法的构建方法,对其使用方法进行描述。通过实例,利用基于这种方法得到的解析解与数值仿真结果的对比,对这种方法的可行性进行了验证。研究表明,辅助坐标法可以解决复杂机械结构中使用DH法则构建坐标系易出错的问题,同时能够解决使用DH法则构建坐标系不够灵活的问题。

Improved DH Method to Build Robot Coordinate System

Considering the limitation of the DH rule when using it to establish coordinate systems for robots, an auxiliary coordinate method was proposed as the extension of the traditional DH rule. The details about how to construct the auxiliary coordinate and how to use the auxiliary coordinate method were stated comprehensively. By the proposed method, any point of a link, not exactly in the joint of two links as usual, can be chosen as the original point of the auxiliary coordinates. The analytical results based on the auxiliary coordinate method were compared with the numerical simulation and it was found that they were in good agreement. It is shown that the method presented is more accurate and flexible when applied to complex robot systems while one or more components are not straight link, for example in L-shape, or t a relative rotation of one link about the axis of the connected previous one.