期刊文献+

抛光机器人轨迹连续性规划与仿真 被引量:2

Polishing robot trajectory continuous planning
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摘要 本文分析了3P3R型抛光专用机器人的结构特点,并指出其在抛光加工中的优势特征。针对该机器人,建立D-H坐标系,进行运动学正反解分析。在工件坐标系下,以三次参数曲线为基础,进行抛光加工轨迹插值规划。实现了抛光轨迹位置和方向的连续变化。通过仿真方法,说明了该轨迹连续方法,在轨迹贴合程度和进给速度方面的优势。数据表明,应用轨迹连续方法,可提高加工质量,简化示教工作。
出处 《制造业自动化》 北大核心 2012年第6期15-19,共5页 Manufacturing Automation
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参考文献8

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