摘要
本文以前后桥生产线上的一台五自由度喷漆机器人为例,研究其与生产线之间的协调轨迹规划问题。首先,用D-H规则讨论机器人的运动学,并给出机器人运动学逆问题的求解。进而重点介绍机器人与生产线间的协调轨迹规划方法。最后,用仿真及试验结果,证明此方法是合理的和切实可行的。
The spray painting robot with five degrees of freedom in the front-rear axle production line is taken as example for studying coordinated trajectory planning. The Denavit-Hartenberg method of kinematics is discussed and the solution of the inverseproblem of kinematics is pointed out. A method of coordinated trajectory planning between the robot and the production line is presented in detail. Simulation and the results of esperiment show that the method is appropriate.
关键词
机器人
喷漆机器人
轨迹规划
Robot Spray painting robot Trajectoryplanning H-D transformation Hanging-up chain
