摘要
利用D-H法建立坐标系、Matlab软件求解正逆方程和插值法处理关节变量来研究服务机器人手臂5个关节空间的轨迹规划问题,实验表明,这种轨迹规划方法是准确和可行的。通过对该方法分析,指出其实现轨迹规划的一般步骤和优缺点,最后展望该轨迹规划法的研究发展方向。
The trajectory planning of 5 degrees of freedom for service robot arm using new D-H method is introduced it.The equations of positive are solved through Matlab software,nverse solution and interpolation to cope with the arthrosis variables is calculated as well.The result of experiment proves that this method is accurate and feasible.Based on the analysis of this method,the process of trajectory planning and the advantages and disadvantages is pointed out.Finally the direction of its development is discussed.
出处
《机械设计与制造》
北大核心
2011年第2期144-146,共3页
Machinery Design & Manufacture
基金
上海市重点学科建设项目(Y0102)
上海市科委重点科技攻关项目(D10-0109-08-005)
