摘要
在运用Robotics Toolbox对Motoman-up50工业机器人建立运动学模型并进行逆运动学求解的基础上,基于MATLAB环境下建立螺旋线模型并按照选取的步进角对其进行等分,以获得若干结点,引入归一化因子,分别采用直线和圆弧插补方法进行插值,对插值后两者的误差进行了分析和总结,为工业机器人进行螺旋轨迹规划提供进一步研究和应用的算法依据和理论基础。
This paper builds kinematic model and solves inverse kinematic problems for Motoman-up50 by using Robotics Toolbox. The spiral model is built and divided into several parts on average, then normalization factor is built and used to make linear and cir -cular interpolation. After that, error is analyzed and summarized, algorithm and theoretical basis is provided for further research on the spiral trajectory planning and its application.
出处
《机械制造与自动化》
2017年第4期150-153,共4页
Machine Building & Automation
关键词
工业机器人
直线插补
圆弧插补
螺旋轨迹
industrial robots
linear interpolation
circular interpolation
spiral trajectory
