摘要
文章通过对六自由度机器人运动学、动力学分析以及轨迹的规划进行分析,建立六自由度机器人的三维仿真模型,完成该机器人的控制系统的开发设计,并将开发的六自由度关节式机器人控制系统稍作调整后实际应用到搬运机器人上,取得了良好的效果。
In this paper,through the analysis of six degrees of freedom robot kinematics,dynamics and trajectory planning are analyzed,and the six degrees of freedom robot 3D simulation model is set up and completed the development of the robot control system design,and the development of six degrees of freedom articulated robot control system with a little tweaking after practical application to the handling robot,has obtained good effect.
作者
李剑强
黄大志
彭强
王壮壮
李天元
LI Jianqiang;HUANG Dazhi;PENG Qiang;WANG Zhuangzhuang;LI Tianyuan(School of Mechanical Engineering,Jiangsu Ocean University,Lianyungang 222005,China;College of Ocean Engineering,Jiangsu Ocean University,Lianyungang 222005,China)
