摘要
为直观显示机器人路径规划的优化状况,采用D-H法则建立连杆坐标系和连杆参数,推导正运动学方程,实现逆运动学方程的封闭解.利用LabWindows/CVI编程软件,结合OpenGL技术对机器人运动学正逆解进行了三维图形仿真,验证正逆运动学准确性和实时性,实时显示各关节轴运动的角度、角速度及姿态.仿真实验表明,末梢定位的误差小于6×10^(-5) mm.为验证仿真结果的可行性,将仿真生成的路径规划点输入到Googol GRB 3016型6自由度关节机器人测试,仿真结果与实际运行吻合.
In order to display the optimization condition of robot path planning visually,D-H rule was adopted to establish the link coordinate frame and link parameters,then the forward kinematics equation can be derived and the closed-form solution of inverse kinematics equation can be realized.In addition,by conducting 3Dgraphical simulation for the kinematics inverse and forward solutions using LabWindows/CVI programming software,the accuracy and real-time performance of positive and athwart kinematics were verified,and thus the angle,angular velocity,and posture of each joint axis movement can be real-time displayed.The simulation results show that peripheral location error is less than 6×10-5 mm.To verify the feasibility of simulation results,the path planning points produced in simulation were input into Googol GRB 3016 articulated robot with 6degrees of freedom for pilot run,indicating that the simulation results are consistent with practicle computational results.
出处
《中北大学学报（自然科学版）》
CAS
北大核心
2016年第5期522-529,共8页
Journal of North University of China(Natural Science Edition)
基金
福建省自然科学基金资助项目(2014J01254)
福建省教育厅A类项目(JA14232)
福建省科技计划重大重点项目(2014H0048)
关键词
串联机器人
运动学
三维仿真
serial robot
kinematics
three-dimensional stimulation
