火车上水机器人运动学分析与路径规划

The Kinematic Analysis and Path Planning of Water Robots on Trains

摘要: 本文选择对自制的非标上水机器人进行运动学分析与仿真。首先利用改进型DH参数法建立各连杆的坐标系，确定D-H参数。接着推导出其运动学方程，在实物上进行运动分析，验证模型的正确性。然后，选择代数法进行逆运动学分析计算，得到运动学逆解，使用Python求解过程封装成函数。通过此函数随机输入给定位姿都能得到给定位姿对应的最优逆解，证实了逆解算法的正确性。最后，本文在Moveit上使用RRT路径规划算法，完成了机器人从初始点到目标点的路径规划。结果表明，对该上水机器人的运动学分析正确，实现了仿真与实物的相互通信。

Abstract: This paper conducts a kinematic analysis and simulation of a self-made non-standard water delivery robot. Firstly, an improved Denavit-Hartenberg (D-H) parameter method is used to establish the coordinate systems for each link and determine the D-H parameters. Then, the kinematic equations are derived, and motion analysis is performed on the physical prototype to validate the model’s accuracy. Next, an algebraic method is chosen for inverse kinematics analysis, resulting in the kinematic inverse solution. A function is encapsulated in Python to solve this process, allowing for random input of specified poses to obtain the corresponding optimal inverse solutions, confirming the correctness of the inverse solution algorithm. Finally, the RRT path planning algorithm is utilized in Moveit to complete the path planning from the initial point to the target point. The results indicate that the kinematic analysis of the water delivery robot is accurate, achieving effective communication between simulation and the physical model.