加油机器人操作臂设计、运动学研究及轨迹规划

Design,Kinematics and Trajectory Planning of Refueling Robot Manipulator

设计了一种加油机器人操作臂的结构形式,运用D-H法建立了运动模型,创建了新型轨迹规划函数,利用解析法求解出正、逆运动学方程表达式,并运用Matlab的Robotics Toolbox工具箱进行了仿真验证。

The mechanical structure of refueling robot manipulator was designed, and the kinematics model of refueling robot was established in the D-H coordinate system and the forward and inverse kinematics of the refueling robot manipulator were obtained through the analytic solutions. At last, the robotics toolbox of software Matlab was used to simulate and verify the forward and inverse kinematics. A new curve of trajec- tory planning was built and the code of the curve was written.