摘要
机器人的运动学分析和轨迹规划是机器人学的一个重要组成部分。以SCARA四自由度关节式机器人为研究对象,利用D-H参数法建立该机器人的关节坐标系,确定了关节和连杆参数,推导出正逆运动学方程。提出了运用Robotics Toolbox工具箱建立机器人运动学方程和仿真曲线。验证了正、逆解求解过程的正确性和机器人结构参数设计的合理性。表明机器人轨迹规划可靠,能够高效地到达预定位姿。
Kinematics analysis and trajectory planning of robot are an important part of robotics.In this paper,the SCARA four DOF articulated robot is taken as the object of study.The joint coordinate system of the robot is established by using the D-H parameter method.The joint and link parameters are determined,and the forward and inverse kinematics equations are derived.A method of kinematic modeling and simulation using Robotics Toolbox is put forward.The correctness of the solution of the positive and inverse solutions and the rationality of the design of the structural parameters of the robot are verified.It shows that the robot trajectory planning is reliable and can reach the preset pose efficiently.
作者
刘长柱
曹岩
贾峰
高硕
韩冲
LIU Chang-zhu;CAO Yan;JIA Feng;GAO Shuo;HAN Chong(School of Mechanical and Electrical Engineering,Xi'an Technological University,Xi'an 710021,China)
出处
《机电工程技术》
2018年第4期111-115,共5页
Mechanical & Electrical Engineering Technology
关键词
运动学
轨迹规划
D-H参数法
仿真
kinematics
trajectory planning
D-H parameter method
simulation
