摘要
针对平面并联机器人结构,分析其逆运动学并提出一种轨迹规划方案。采用VC6.0设计一款人机交互软件,其包含图形界面、列表界面等功能模块,采用Open GL编写三维图形仿真界面。软件通过调用PMAC的动态链接库实现与下位机的通讯,从而控制机器人按目标轨迹运动。最后通过实验证明了该软件的实用性与合理性。
Aiming at the structure of planar parallel robot, it analyzes its inverse kinematics and proposes a trajectory planning scheme, designs a human -computer interactive software based on VC6.0, applies a 3D graphics simulation interface with OpenGL to develop the interactive software, which includes function modules such as graphic interface, list interface etc. Through calling the dynamic link library of PMAC, the software can commu- nicate with the lower computer to ensure the robot for the target trajectory movement. It takes the experiment to prove the practicability and rationality of the software.
出处
《机械设计与制造工程》
2014年第12期11-15,共5页
Machine Design and Manufacturing Engineering
基金
中央高校基本科研业务费专项资金资助项目(NZ2013307)
国家自然科学基金资助项目(51405237)
关键词
平面并联机器人
运动学
轨迹规划
人机交互
planar parallel robot
kinematics
trajectory planning
human -computer interaction
