摘要
基于LabVIEW建立了SR10C六轴工业机器人的运动控制系统,同时实现运动轨迹规划,并研究了机器人运动学模型。通过Matlab工具求出机器人正运动学和逆运动学解以及在笛卡尔空间和关节空间的运动轨迹规划。采用D-H参数法对机械臂进行建模,最后,在SR10C六轴机器人上完成正逆运动学测试以及直线、圆弧的轨迹规划,并完成机器人实机测试。
The motion control system of SR10 C six axis industrial robot is established based on LabVIEW,and the trajectory planning is realized,and the kinematics model of the robot is studied. The forward kinematics and inverse kinematics solution of the robot are obtained by the Matlab tool. Then the trajectory planning in Cartesian space and joint space is obtained. D-H parameter method is used to model the mechanical arm. Finally,the forward and inverse kinematics test and linear,arc trajectory planning of the SR10 C six axis robot are completed.
出处
《广东石油化工学院学报》
2016年第3期41-45,共5页
Journal of Guangdong University of Petrochemical Technology
基金
广东省自然科学基金项目(2016A030307049)
广东省科技计划项目(2014A010104016
2015B090903084)
广东省大学生科技创新培育专项资金"攀登计划"项目(pdjh2016b0339)
校级大学生创新创业训练与培育项目(2015py A002
2016py A031
2016pyc049)
