GAMMA300型七自由度机械臂运动学仿真

Kinematic simulation of 7-DOF manipulator GAMMA300

针对机械臂的运动学问题以及运动路径的设计问题,以冗余度为1的美国ROBAI公司生产的7自由度冗余机械臂GAMMA300为具体研究对象,对七自由度机械臂进行运动学建模与仿真。利用Robotics Toolbox机器人工具箱编写该机械手的运动学程序。通过仿真实现了预定目标,验证了设计参数的正确性和可行性,为机械臂末端执行器的精确定位和轨迹规划提供了理论依据。对于冗余机械臂一般逆运动学封闭解的研究有一定的实用价值。

Aiming at the problems of manipulator kinematics and motion path planing, taking 7-DOF redundant manipulator GAMMA300 with 1 redundant from ROBAI company in the United States as specific research object, kinematic modeling and simulation of 7-DOF manipulator are done. Kinematic program is prepared based on Robotics Toolbox software platform The simulation is completed and the intended targets are achieved. The results verify the correctness and feasibility of the designed parameters and provide theoretical bases for precise positioning and trajectory planning of actuator ends of manipulator. The research has a practical value for the studies of general inverse-kinematic closed-form solution of redundant manipulators.