| RoboCup仿真平台中NAO模型正运动学研究 |
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| 引用本文： | 王凡,王侠,李龙澍.RoboCup仿真平台中NAO模型正运动学研究[J].安徽教育学院学报,2011,29(3):49-51. |
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| 作者姓名： | 王凡 王侠 李龙澍 |
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| 作者单位： | 合肥师范学院计算机科学与技术系;安徽大学计算智能与信号处理教育部重点实验室;安徽新闻出版职业技术学院计算机中心; |
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| 基金项目： | 安徽省自然科学基金(项目编号:090412054); 合肥师范学院科研项目(项目编号:2010kj07);合肥师范学院教研项目(项目编号:2010yj32) |
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| 摘 要： | 针对仿人机器人NAO模型提出一种正运动学求解方法。首先分析了NAO模型的下肢拓扑结构,并建立了其前向运动学模型,然后推导出机器人下肢各关节的齐次变换矩阵,并求解末端执行器的位置,最后通过编码实现该算法。实验结果验证了该方法在实际应用中的可行性。
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| 关 键 词： | 仿人机器人 运动学 RoboCup仿真3D 关节 |
Research on the Direct Kinematic of NAO Model in RoboCup Simulation Platform |
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| WANG Fan,WANG Xia,LI Long-shu.Research on the Direct Kinematic of NAO Model in RoboCup Simulation Platform[J].Journal of Anhui Institute of Education,2011,29(3):49-51. |
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| Authors: | WANG Fan WANG Xia LI Long-shu |
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| Institution: | WANG Fan1,3,WANG Xia2,LI Long-shu3(1.Department of Computer Science and Technology,Hefei Normal University,Hefei 230601,China,2.Computer Center,Anhui Vocational and Technical College of Press and Publication,3.Education Ministry Key Laboratory of Intelligent Computing & Signal Processing,Anhui University,Hefei 230039,China) |
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| Abstract: | This paper offers a kind of direct kinematics for humanoid NAO model.Firstly,it analyzes the lower limb topology of NAO model,and establishes the forward kinematics model.Secondly,the paper derives the homogeneous transformation matrix of lower limb joints of the robot,and solves the position of the end of the actuator.Finally,the algorithm is realized by coding.The feasibility of this method is verified by the experiment results. |
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| Keywords: | humanoid robot kinematics RoboCup Simulation 3D joint |
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