摘要
本文以多轴机械臂为研究对象,基于CytonVeiwer软件,进行了机械臂运动学建模,实现了手柄对机械臂的控制,并将其运动轨迹导入到MATLAB软件中进行仿真,得到对机械臂运动轨迹的再现。通过上述工作,确定了仿真方法的可行性,为多轴机械臂控制仿真提供了借鉴方法。
This paper uses multi axis manipulator as manipulator kinematics modeling, the handle control the research object, based on the cytonveiwer software,the of the manipulator, and the simulation of its trajectory into MATLAB software, get the representation of the manipulator trajectory. Through the above work, the feasibility of the simulation method is confirmed, which provides a reference for the simulation of multi axis manipulator control.
出处
《装备制造技术》
2017年第2期220-222,共3页
Equipment Manufacturing Technology
关键词
多轴机械臂
运动学建模
手柄
multi-axis manipulator
kinematics modeling
handles
