摘要
文中对装配机器人进行运动学分析,并采用D-H方法获得了运动学正解、运动学逆解,为机器人运动学轨迹规划打下基础。使用MATLAB获得工作空间,利用逆解并根据运动过程的要求,对装配机器人进行了轨迹规划。将MATLAB中规划轨迹的结果在ADAMS中进行了虚拟仿真,获得的实验数据为装配机器人运动过程的研究和结构优化提供理论依据。
In this paper,the kinematics analysis of assembly robot was firstly conducted.By means of D-H method,the kinematics direct solution and inverse solution were obtained which laid the foundation for robot trajectory planning.Then the workspace of the assembly robot was obtained using MATLAB,on the basis of which,the trajectory plan was made utilizing the inverse solution according to requirements of movement process.Finally,with the results of trajectory planning acquired from MATLAB,a simulation of the assembly robot kinematics was conducted on ADAMS platform,and the experimental data can offer guideline for the research of the actual robot movement process and the optimization of robot structure.
出处
《通信电源技术》
2014年第6期27-29,58,共4页
Telecom Power Technology
关键词
装配机器人
DH坐标
运动学
仿真
assembly robot
D-H coordinates
kinematics
simulation
