摘要
按照一定的要求对一种柱面坐标机器人进行了参数设计,讨论了该机器人的运动学问题,然后在MATLAB环境下,用Robotics Toolbox对该机器人的正运动学、逆运动学、轨迹规划进行了仿真.通过仿真,观察到了机器人各个关节的运动,并得到了所需的数据,说明了所设计的参数是正确的,从而能够达到预定的目标.
The parameters of a kind of cylindrical coordinate robot were designed in this paper,according to some qualification. In the same time, the problem of the kinematics of the robot was discussed. Then the kinematics, inverse kinematics and the trajectory planning are simulated with the Robotics Toolbox of the Matlab computer program language. Based on the simulation,we observe the motion of the robot＇s joints and obtain the data that we need. This process proves that all the parameters we design are right and they can satisfy the goal that we expect. In conclusion, writing some simple program sentences with the Matlab computer program language,we can carry on the simulation of robot motion conveniently,in order to check the correctness and the rationality of the parameters.
出处
《厦门大学学报（自然科学版）》
CAS
CSCD
北大核心
2005年第5期640-644,共5页
Journal of Xiamen University：Natural Science
基金
福建省重点科技项目(98-H-36)资助
