摘要
针对高空幕墙安装机器人的的特定构造,分析了机器人的基本结构,用D-H法建立其运动学模型,并推导出基于矩阵法的机器人正、逆运动学求解方法,用Solid Works和3ds Max对高空幕墙安装机器人进行三维建模,并利用Open GL技术实现高空幕墙安装机器人三维运动仿真;运用空间几何的三角函数关系设置机器人的运动位姿,使用力反馈手柄实时控制机器人运动,并根据高空幕墙安装作业的实际情况,建立不同的模型计算反馈力,实现基于力觉的机器人控制仿真。仿真结果显示操作者能够通过力反馈手柄在视觉和力觉的反馈下,完成高空幕墙的安装工作,证明了上述仿真方法符合高空幕墙安装作业的实际情况。
According to the specific structure of curtain waU installation robot, we analyzed the basic structure of the robot, set up the kinematics model using d-h method, and deduced the kinematics solution based on matrix meth- od. With curtain wall installation robot in solid works and 3ds Max 3D modeling, we used the OpenGL technology to implement the three-dimensional motion simulation of curtain wall installation robot. The motion of the robot was set up by using the trigonometric function of spatial geometry, and the force feedback device was used to control robot motion in real time. According to the actual situation of the installation work of the curtain wall, different models were set up to calculate the feedback force. At last, we realized the simulation of robot control based on force sence. Simu- lation results show that the operator can complete the installation of the curtain wall by the force feedback handle un- der the visual and force feedback, and the simulation method is in accordance with the actual situation of the curtain wall installation.
出处
《计算机仿真》
北大核心
2018年第3期239-243,323,共6页
Computer Simulation
基金
河北省高层次人才资助项目(A2013005002)
关键词
高空幕墙安装机器人
运动学分析
运动仿真
反馈力
Curtain wall installation robot
Kinematics analysis
Motion simulation
Feedback force
