摘要
对Cincinnati T3-746工业机器人的运动学轨迹规划进行了分析与仿真。通过实验对该工业机器人的三关节的关节轨迹进行了三次多项式插值运算。利用MATLAB-Robotics工具箱对该工业机器人进行了建模,实现了对工作空间内任意直线、圆弧轨迹拟合插值运算。通过运动学正反解的计算,得到了实时的关节空间坐标的数值解。为该工业机器人进一步的研究和应用提供了理论分析依据。
The paper analyzed and simulated on kinematic trajectory planning of industrial robots Cincinnati T3-746.Cubic polynomial interpolation and experimental method was used in joint trajectory planning on this robot.This experiment modeled on this robot,realized trajectory fitting and interpolation of any straight line and circular curve in working area by using MATLAB-Robotics Toolbox.By using kinematics and inverse kinematics solutions,this experiment gets real-time numerical solution in joint space coordinates.It provided theoretical basis for further research and application on industrial robots.
出处
《机械工程师》
2011年第7期81-83,共3页
Mechanical Engineer
