摘要
机器人的运动学和动力学分析是实现机器人运动控制与轨迹规划的基础,其中运动学分析是最基本的问题,D-H参数法就是常用的分析方法之一,通过仿真可以模拟机器人的运动情况和动态特性,验证建立的运动学模型。利用D-H参数建立了平面关节型机器人运动学模型,用拉格朗日动力学方程得出了机器人的一些运动参数,并利用MATLAB Robotic Toolbox分析了直角坐标机器人正逆运动学模型,通过运动学轨迹规划仿真进一步验证了模型的正确性。
The kinematic and dynamic analysis of robot is the basis of realizing the motion control and trajectory planning of robot,among which the kinematic analysis is the most basic problem,while the D-H parameter method is the commonly used analysis method.Through simulation,the movement and dynamic characteristics of robot can be simulated to verify the established kinematic model.The kinematics model of planar joint robot wasestablished by D-H parameters,and some motion parameters of robot wereobtained by Lagrange dynamics equation.The forward and inverse kinematics model of Cartesian coordinate robot wasanalyzed by using MATLAB robot toolbox.The correctness of the model wasfurther verified by the simulation of kinematic trajectory planning.
作者
周书华
张文辉
闻志
叶晓平
ZHOU Shuhua;ZHANG Wenhui;WEN Zhi;YE Xiaoping(Automobile Technology of Department,Zhejiang Technical Institute of Economics,Hangzhou 310000,China;School of Electronic Information,Nanjing Xiaozhuang University,Nanjing 211167,China;School of Machinery and Automatic Control,Zhejiang University of Technology,Hangzhou 310000,China;Zhejiang Key Laboratory of Digital Design and Intelligent Manufacturing of Cultural and Creative Products,Lishui 323000,China)
出处
《电工技术》
2020年第24期78-80,83,共4页
Electric Engineering
基金
浙江省自然科学基金(LY18F030001)
国家自然科学基金面上项目(61772247)
南京晓庄学院校级高层次培育项目(2020NXY14)。
关键词
直角坐标机器人
D-H参数
运动学模型
轨迹规划
cartesian coordinate robot
D-H parameters
kinematic model
trajectory planning
