摘要
针对SCARA机器人运动姿态解和轨迹规划的优化选择问题,基于D-H法建立了机器人运动学模型,根据机器人通过奇点后的两种姿态解,利用多项式插值法得到了不同的运动轨迹,利用SimMechanics导入Solidworks三维模型进行了机械运动仿真。通过对比不同姿态下的轨迹规划仿真结果,验证了关节角度积分求和的优化选择方法在SCARA机器人轨迹规划中的可行性。
Aiming at the optimal selection of kinematics postural solutions and trajectories of SCARA Robot, a robot kinematics model was established based on D-H method. According to the two postural solutions of the robot through the singularity, different motion trajectories were obtained by polynomial interpolation, and the mechanical motion simulation was carried out by using SimMechanics with the Solidworks three-dimensional model. By comparing the simulation results of trajectories between different postures, the feasibility of the joint angle integral summation optimization method in SCARA trajectory planning was verified.
作者
张卓
张程
ZHANG Zhuo;ZHANG Cheng(Guangdong Polytechnic of Science and Technology,Zhuhai 519041,China;Zhuhai College of Jilin University,Zhuhai 519041,China)
出处
《电工技术》
2018年第18期163-166,共4页
Electric Engineering
基金
广东省青年创新人才类项目(2017GkQNCX014)
广东省本科高校高等教育教学改革项目(2017008)
广东科学技术职业学院科研项目(XJPY2016022)
吉林大学珠海学院教学质量工程项目(ZLGC20170701)
