摘要
机器人的运动特性分析是机器人研究与应用的重要基础。为了对机器人的应用和改造提供理论参考,取MZ04型机器人为研究对象,以D-H法建立机器人连杆坐标系,并通过齐次坐标变换建立其运动学方程。然后以MATLAB Robotics Toolbox建立机器人数学模型,并在此基础上对其进行运动学仿真及轨迹规划。仿真结果表明所建模型准确,机器人结构参数合理。
Kinematic characteristics analysis of robot is an important basis for further research and application. In order to provide the theoretical reference to the usage and transformation of robot, it takes the MZ04 robot as the research object and establishes the robot coordinate system by D-H method, then the kinematics equation is built based on homogeneous coordinate transformation. Modeling conveniently and efficiently of robot through Robotics Toolbox, it carries on the kinematics simulation and trajectory planning. The simulation results show that the model is accurate and the robot structure parameters are reasonable.
作者
熊超
张鹏超
冯博琳
贺洋洋
杜枭雄
XIONG Chao ZHANG Peng-chao FENG Bo-lin HE Yang-yang DU Xiao-xiong(School of Mechanical Engineering, Shaanxi University of Technology, Hanzhong 723000, China Key Laboratory of Industrial Automation of Shaanxi Province, Shaanxi University of Technology, Hanzhong 723000, China)
出处
《陕西理工学院学报（自然科学版）》
2017年第2期48-53,59,共7页
Journal of Shananxi University of Technology:Natural Science Edition
基金
陕西省科技厅工业攻关项目(2016GY-070)
陕西省教育厅重点项目(16JS017)
