摘要
针对一种工业码垛5自由度机械手进行运动学分析,利用标准D-H参数法建立其参数和正运动学模型,并求解机械手的逆运动学解析解。基于MATLAB Robotics Toolbox建立机械手的仿真模型,验证了机械手正逆运动学求解的可行性。结合MATLAB的数据处理功能和GUI的图形界面,建立强大的可编辑可视化仿真平台,通过串口通讯控制单片机实现对实体机械手的运动控制,实验验证了正逆解求解的正确性。
The kinematics analysis is carried out for a kind of industrial plletizing 5-DOF manipulator,its parameters and positive kinematics model are established by using the standard D-H parameter method,and the inverse kinematics analytical solution of the manipulator is solved.Based on the MATLAB Robotics Toolbox,a simulation model of the manipulator is established,which verifies the feasibility of solving the positive and inverse kinematics of the manipulator.With the combination of the data processing function of MATLAB and the graphical interface of GUI,a powerful editable visual simulation platform is established,and the motion control of the solidmanipulator is realized by serial communication,the correctness of the positive and inverse solution is verified by experiments.
作者
周睿
李淑颖
汪义博
王长磊
牟伦锐
Zhou Rui;Li Shuying;Wang Yibo;Wang Changlei;Mou Lunrui(School of Mechanical Engineering,Shandong University,Jinan 250002,China;Shandong University Mechanical Basic Experiment Teaching Demonstration Center,Jinan 250002,China;不详)
出处
《工具技术》
2020年第8期45-49,共5页
Tool Engineering
