摘要
针肖像机器人绘画问题,为探讨和研究肖像机器人运动学和插值方法,利用各关节连杆的相对关系得到了正、反运动学描述。首先,规定了Home初始位,同时利用MDH法建立了坐标系,分析了其结构及连杆参数。然后,利用MATLAB数学工具箱验证了运动学求解算法的正确性。最后,讨论了双三次插值在机器人路径规划中的应用,利用该算法对示教路径进行插值以消除了机器人运动过程中的不连续现象。实验结果表明,运动学算法和插值算法具有很好的鲁棒性。
Aimed at portrait robot painting problem and for the purpose of making kinematic and interpolation research on portrait robot,it uses the relative each joint connecting rod to get positive and inverse kinematics description. First of all,defines the home of initial position,structure and link parameters are analyzed,and uses MDH method to establish coordinate system at the same time. Then,using the MATLAB math tools to confirm the correctness of kinematics algorithm. Finally,bicubic interpolation algorithm is discussed to apply in robot path planning,and using the method interpolate teaching path to eliminate discontinuous phenomenon in the process of the robot movement. The experimental results show that the kinematics algorithm and the interpolation algorithm have good robustness.
出处
《机械设计与制造》
北大核心
2016年第1期235-237,242,共4页
Machinery Design & Manufacture
基金
国家科技重大专项IC装备机械手及晶圆传输系统系列产品研发与产业化(2009ZX02012)
沈阳市工业科技攻关项目(F12-010-2-00)
全国教育科学规划重点课题(DBC2012039)
重庆市资助课题(113296)
