摘要
为研究SCARA机器人的轨迹规划,在MATLAB环境下,对该机器人运动学参数进行了设计,利用Robotics toolbox工具箱编制了简单的程序语句,建立该机器人运动学模型,讨论了标准D-H参数和改进D-H参数建模方法的区别,并对机器人的轨迹规划进行了仿真.通过仿真,直观地显示了机器人关节的运动,得到了连续平滑的机器人关节角度轨迹曲线.仿真实验表明,所设计的运动学参数是正确的,从而达到了预定的目标.该工具箱可以对机器人进行图形仿真,分析真实机器人控制时的数据结果,对机器人的研究开发具有较高的经济实用价值.
For the purpose of making trajectory plan research on SCARA robot,in the MATLAB environment,the kinematic parameters of the robot were designed.Kinematic model was established by Robotics toolbox compiled the simple programming statements,the difference was discussed between the standard D-H parameters and improved D-H parameters,and the trajectory planning was simulated,the joints trajectory curve were smooth and continuous.Simulation shows the designed parameters are correct,thus achieved the goal.The tool can be used to the robots graphic simulation and analysis of the real robot control result,it has higher economic and practical value for the research and development of robot.
出处
《湖南科技大学学报(自然科学版)》
CAS
北大核心
2012年第2期41-44,共4页
Journal of Hunan University of Science And Technology:Natural Science Edition
基金
国家自然科学基金资助项目(60975069)
湖南省自然科学市州联合基金资助项目(10JJ9010)
湖南省科技计划项目资助项目(2009GK3102)