计算机运态仿真技术在机器人轨迹规划中的应用

THE APPLICATION OF THE COMPUTER DYNAMIC SIMULATION TECHNIQUE IN THE TRAJECTORY PLANNING OF ROBOTS

本文首先建立了PUMA-560机器人的数学模型,然后,依次建立了机器人点到点(PTP)运动的轨迹模型和机器人沿连续路径(CP)运动的轨迹模型。在此基础上,以PUMA-560机器人为例,借助计算机图形学中的动画技术,在IBM-XT计算机屏幕上显示出了该机器人的动态运动过程及相应的轨迹曲线,效果相当理想。由此证明计算机动态仿真技术在机器人的轨迹规划中可以发挥相当重要的作用。

At first, the mathematical model of PUMA-560 Robot has been fo- unded in this paper, and then, two kinds of trajectory model of Robots, i.e., point to point trajectory and continuous path trajectory, have been founded in turn. On those foundations, authors have taken PUMA-560 Robot as an example and with the help of the moving picture technology of computer graphics, have implemented that the dynamic movement co- urses and their trajectory diagrams of this Robot are displaied on IBM- XT personal computer screen. The effect is very good.As mentioned above, it is clear that the dynamic simulation, technology of computer can play a quite important role in the trajectory planning of Robots.