论文标题
选定的机器人运动学表示之间的自动转换
An Automated Conversion Between Selected Robot Kinematic Representations
论文作者
论文摘要
本文提出了一种方法，该方法构成了机器人运动学表示转换的自动化工具，称为Robkin解释器。它是一组分析算法，它们应用基本的线性代数工具，可以分析输入串行机器人表示，以矩阵形式表达全局的关节，并将映射到其他表示形式，例如标准的Denavit-Hartenberg参数，滚动式 - 流程角度，具有转换式置换式型号的滚动角度，并从可能产生任何可能的型号（formatientials）。它适用于旋转和棱镜关节，甚至可以解释没有正交关节并经常出现在柔性机器人系统中的任意运动结构。提出的方法的目的是促进由于软件兼容性，计算简化或合作而导致表示形式之间的必要切换。
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an input serial robot representation, express the joints globally in matrix form, and map to other representations such as standard Denavit-Hartenberg parameters, Roll-Pitch-Yaw angles with translational displacement, and Product of Exponentials with a possibility to generate a URDF (Universal Robot Description Format) file from any of them. It works for revolute and prismatic joints and can interpret even arbitrary kinematic structures that do not have orthogonally placed joints and often appear in flexible robotic systems. The aim of the proposed methods is to facilitate the necessary switches between representations due to software compatibility, calculation simplification, or cooperation.
