6R机器人工具端的运动学建模及仿真

The Kinematics Modeling and Simulation of 6R Robot with Tool Frame

工业机器人实现加工作业时,工具端沿加工轨迹运动,且要满足加工的位姿要求。为了控制机器人末端工具工作点相对于工件的轨迹和位姿,建立面向工具坐标系的机器人运动学模型对机器人离线编程有重要意义。通过将工具坐标系与机器人连杆坐标系分离,研究针对工具坐标系的机器人运动学正、逆解。提出一种余弦定理结合圆心角定律的机器人空间三点圆弧轨迹规划方法,通过调用OpenGL图形库,进行机器人空间圆弧轨迹运动仿真,验证了算法的正确性,为本研究条件下机器人离线编程打下理论基础。

While industrial robots achieve machining jobs,it must meets the processing requirements of the position and orientation.In order to seek solutions to the tool coordinate system for controlling the position and posture of tool frame towards work steady in the robot off-line programming.Separating the tool coordinate system from the robot connecting rod coordinate system,so that obtained the robot forward kinematics and inverse kinematics solution.Explored a method of three-point circular arc interpolation of robot space base on law of cosines.Taking advantage of OpenGL graphics library to achieve robot space circular arc interpolation motion simulation,which verify the accuracy of the algorithm and lay the foundation for robot off-line programming under the involved conditions.