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NGHIEN cufu - TRAO D | NANG CAO 00 CHINH X A C O A P U'NG Vj TRI VA HU'ONG TRONG BAI TOAN DONG HOC NGlJ'aC ROBOT Pham Thdnh Long, Vu Dflc Vfldng Khoa Cd khi, Trfldng Dai hpc Ky thudt Cdng nghiip - Dai hpc Thdi Nguyin TOM TAT Sai sd ldi gidi bdi todn ddng hgc ngUdc dphdn dinh hUdng Id diiu khong trdnh khdi vdi mgi phUdngphdp gidi biiu thUc dinh hUdng ludn co hi sd bdng 1, nho hdn nhiiu so vdi he sd bieu ihiic mo td vi tri [1] Bdi bdo ndy trinh bdy gidi phdp ndng cao chinh xdc ddp Ung hUdng cua cd cdu chdp hdnh cudi ciing ddm bdo dinh vi dung khdu cudi cua robot Ddm bdo chinh xdc ciia viec diiu khien robot tU khdu gidi bdi todn ngUdc dgng hgc Id vdn di co tinh ly thuyet quan trgng, ldm tiin di cho viic dHu khien cdc robot ddi hdi chinh xdc cao Kit qud ciia bdi bdo Id cong cu hitu ich cho nhUng ngUdi sit dung robot vd gdp phdn hodn thien hdn nUa ly thuyit vigidi bdi todn dgng hgc ngUdc ciia robot ABSTRACT Errors in the solution of inverse kinematics problem in orientation are inevitable in all solution methods This is because orientation equations coefficient is always equal to and it is much less than that in the equation describing position [1] This paper presents a method to improve the response accuracy of orientation of the end effector while keeping its position correctly It is important to ensure the accuracy of the solution of inverse kinematic problem for the sake of controlling robot at high precision The results of this paper is very useful tool for people using robot and contributes to complete more about theory to solve inverse kinematic problem of robot DAT VAN DE tdi flu, ddy la mdt hfldng hilu qua de tim thdng sd biln khdp cho robot Kit qua dam bdo ddp Gidi bdi todn ddng hpc ngflpe gifl vai trd flng cho dieu khiln cdc robot cd dp chinh xdc quan trpng vd la tiln dl ddu tiln vile dilu trung binh nhfl robot phun sdn, robot han khien robot Di dam bdo dap flng tdt cdc ylu cau Tuy nhiln, nd van chfla ddp flng dflpc cdc cdng vile ma robot can thflc hiln thi cdc bd sd lieu biln khdp thu dfldc can chinh xdc, thdi gian tim ylu cau khat khe vl dp chinh xdc ddng hpc cua cdc kilm ldi gidi ngan Vdi he phfldng trinh phi tuyin robot nhfl robot lap rap, robot ddy chuyin nhfl he ddng hpc robot thi ldi gidi bang phfldng sdn xuat linh kiln diln tfl, nguyin nhdn cd ban phdp sd td cd nhilu flu diem vd dfldc nhilu tdc cua van dl ndy dflpc chi d [ ] Chat Iflpng cua gia quan tdm phat trien ldi giai bdi todn ddng bpc ngflpe can dfldc ndng cao tfl khau gidi bai todn ngflpe trfldc Trong tai lieu [2], tdc gid da chuyin vile sfl dung din cdc biln phdp vl dilu khiln, ddy giai trflc tilp he ddng bpc robot thdnh bdi todn la van dl mang tinh ly thuylt ma ddng bpc c a n ' ^ TAP CHf CO KHf VIET NAM •t* Sd 03 (Thang nam 2012) NGHIEN cufu - TRAO D6\ dfldc nang cao tfl khdu gidi bdi todn ngflpe trfldc sfl dung din cdc bi|n phdp vl dilu khiln, ddy Id van di mang tinh ly thuylt md dOng bpc can phdi gidi quylt d^c l^p vdi cdc chiln Iflpc dilu khiln vl sau trln mOt sdn phdm cd di|n tfl Trln CO sd gidi bdi todn tdi flu da dflpc gidi thi|u [2], Id mpt phfldng phdp da dflpc thfla nhdn vl tinh tdng qudt vd sfl thudn ti|n sfl dyng, dfldi ddy tdc gid trinh bdy gidi phdp ndng cao dp chinh xdc cho ldi gidi cua bdi todn d^ng hpc ngflpe robot N A N G CAO DO CHfNH XAC P H A N DINH HUCING C U A ROBOT a M^t s6 lflu y xdy dflng hdm bdi todn tdi flu Tham khdo md hinh todn hpc md [2] dl xuat cd dang: (1) *=i [h^gi^u, Trong md hinh ndy hdm muc tilu cd chfla ca cdc bilu thflc vi tri vd dinh hfldng dd chpn, cdn miln rang budc chi dien td dilu kiln nghilm vdt Nhflng flu diem md phfldng phdp ndy dat dfldc Id da chuyin dflpc bai todn sang gidi bdng phfldng phdp sd vdi so sin khdng ban cbl vdi each xdy dflng bdi todn khd dl hilu so vdi cdc phfldng phdp khdc cd tinh tdng qudt nhfl Sylvester, Tsai Morgan, Raghavan - Roth phfldng phdp tinh sd hpc thi chia hai sd c6 tri tuylt ddi gdn cho thi sai sd phep chia ldn hdn vdi vi|c chia hai sd cd tri tuy|t ddi chinh l|ch, vl vdy, chinh xdc cua ddp flng hfldng luon kim hdn dO chinh xdc cua ddp flng vi tri, vi bat ciJ phfldng phdp gidi bdi todn dOng hpc ngflpe ndo ap dvmg cho robot diu phdi trdi qua qua trinh tinh toan sd cdp rdt ddi nln khdng trdnh khdi ldi V4y nlu cd thi khdc phuc sfl chinh l|ch h | so hdm muc tilu vdn di se dflpc gidi quylt Ddy Id nOi dung chinh cdn gidi quylt bfldc kl tilp b Gidi phdp di ndng cao d^ chinh xac dinh hfldng phdn chKp hdnh Trong bdi todn dpng hpc ngflpe cua robot, bp gid tri biln khdp (q,, q^, qj tim dflpc can thda man: «I ^I ^x Px "> 'y ""y Py «z ^z
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