NGHIN CU V M PHNG NG HC V NG

LC HC ROBOT NHIU CHN

Tm tt:


1. Gii thiu:

2. S ng v h ta ca Robot:







X
0
Y
0
a
3
=
9
3

Khu 1

Khu 0

Z
0
Khu 3

Khu 2

a
2
=
8
3

Y
2
Y
1
Z
2
X
2
Y
1
X
1
d
3
=
2
0

a
2
=67
Z
1
Y
3
X
3
Z
3




BNG THNG S D-H

Khu a
i

i
d
i

i
1 0

-90 d
1
=18
1

2 a
2
=83 0

0

2

3 a
3
=93 0 0

3



3. Phng trnh ng hc robot
3.1. Phng trnh ng hc thun:
+ m t mi quan h v hng v v tr ca h ta gn trn hai khu lin k nhau (Khu
th i v khu i-1) ta dng cc ma trn A
i
; c biu din bi cc php bin i:
T
i
= Rot(z, u
0
). Trans(a,0,0). Trans(0,0,d). Rot(x, o)
Hay
T
i
=
(
(
(
(

1 0 0 0
cos sin 0
sin sin cos cos cos sin
cos sin sin cos sin cos
d
a
a
o o
u o u o u u
u o u o u u

Qui c vit tt cc hm lng gic nh sau:
C
1
= cosu
1;
S
1
= sinu
1
; C
12
= cos(u
1
+u
2
); S
12
= sin(u
1
+u
2
);.......
Ta c:

1 1
1 1 0
1
1
0 0
0 0
0 1 0
0 0 0 1
C S
S C
T
d

(
(
(
=
(
(

;
2 2 2 2
2 2 2 2 1
2
0
0
0 0 1 0
0 0 0 1
C S a C
S C a S
T

(
(
(
=
(
(

;

3 3 2 3
3 3 2 3 2
3
0
0
0 0 1 0
0 0 0 1
C S a C
S C a S
T
(
(
(
=
(
(


2 3 2 3 2 3 2 3 2 2 3 2 2 3 2 2
2 3 2 3 2 3 2 3 2 2 3 2 2 3 2 2 1 1 2
3 2 3
0
0
.
0 0 1 0
0 0 0 1
C C S S C S S C C a C S a S a C
S C C C C C S S S a C C a S a S
T T T
+
(
(
+ + +
(
= =
(
(


1 2 3 2 3 1 2 3 2 3 1 1 2 2 3 2 2 3 2 2
1 2 3 2 3 1 2 3 2 3 1 1 2 2 3 2 2 3 2 2 0 0 1 2
3 1 2 3
2 3 2 3 2 3 2 3 2 2 3 2 2 3 2 2 1
( ) ( ) ( )
( ) ( ) ( )
. .
0
0 0 0 1
C C C S S C C S S C S C C a C S a S a C
S C C S S S C S S C C S C a C S a S a C
T T T T
C S S C C C S S S a C C a S a S d
+
(
(
+
(
= =
( + +
(

- Ta c li c:

0
3
0 0 0 1
x x x x
y y y y
z z z z
n o a p
n o a p
T
n o a p
(
(
(
=
(
(


Ma trn
0
3
T
m t hng v v tr ca h to gn trn khu chp hnh cui i vi
h ta gc. Trong : a , o ,

n l cc vct ch phng ca h ta gn trn khu chp
hnh cui, p

l vct im ch v tr ca gc h ta gn trn khu chp hnh cui.

Trn c s , ta c h phng trnh ng hc ca Robot nh sau:

1 2 3 2 3
1 2 3 2 3
2 3 2 3
1 2 3 2 3
1 2 3 2 3
2 3 2 3
1
1
1 2 2 3 2 2 3 2 2
1 2 2 3 2 2 3 2 2
2 2 3 2 2 3 2 2 1
( )
( )
( )
( )
0
( )
( )
x
y
z
x
y
z
x
y
z
x
y
z
n C C C S S
n S C C S S
n C S S C
o C C S S C
o S C S S C
o C C S S
a S
a C
a
p C C a C S a S a C
p S C a C S a S a C
p S a C C a S a S d
=

= +

`
=

= +

= +
= +
)
(1)

3.2. Phng trnh ng hc ngc:
- Trong thc t, thng ta bit trc v tr v hng m khu chp hnh cui ca robot
cn t n. iu ta cn bit l gi tr ca cc bin khp (gc quay v di tnh tin
ca cc khu) ti mi thi im . Gii h phng trnh (1), khi bit trc hng v
v tr ca h ta gn trn khu chp hnh cui, ta s xc nh c tp nghim (u
1
,
u
2
, u
3
) l gi tr ca cc bin khp. Cc phng trnh xc nh gi tr cc bin khp
thng qua cc vct p , a , o ,

n c gi l h phng trnh ng hc ngc ca robot.


T[0,2]=




3.3.