摘要
以教学中常用的EFORT ER3A工业机器人为研究对象,对其结构进行分析,采用改进D-H参数法建立坐标系并进行参数设计.在Matlab环境下使用Robotics工具箱构建了ER3A机器人的数学模型,在关节空间下对其运动学轨迹规划进行分析与仿真.获得了连续平滑的机器人末端轨迹,观察比较机器人在不同的路径规划方法下各关节的运动参数变化曲线,结果表明所构建的机器人模型和运动学参数是合理的,为该机器人在工业机器人理论教学和实操中应用提供了依据.
The coordinate system and design parameters are established through the improved D-H parameter method based on the structure analysis of EFFORT ER3A industrial robot.In the Matlab environment,the mathematical model of the robot is built by Robotics toolbox,and a continuous smooth end trajectory is obtained through the analysis and simulation of its kinematic trajectory planning in joint space.Comparison of parameter change curves of joint motion with different path planning methods shows that the constructed robot model and parameters are reasonable and provide a basis for the application of the robot in the theory teaching and practical operation of industrial robots.
作者
田勇
张露
林开司
TIAN Yong;ZHANG Lu;LIN Kaisi(Department of Electrical Engineering,Tongling Polytechnic,Tongling,Anhui 244000)
出处
《玉溪师范学院学报》
2020年第6期49-56,共8页
Journal of Yuxi Normal University
基金
安徽省教学研究项目“单片机应用技术课程改革与项目化教程开发”(2018jyxm1361)
铜陵职业技术学院院级重点教研项目“工业机器人操作与仿真课程资源建设”(tlpt2019TK013).
