基于MATLAB的Puma250机器人运动仿真与分析

Kinematical Analysis and Simulation of PUMA250 Robot Based on Matlab

针对Puma250机器人,分析其结构及连杆参数。利用MATLAB工具,按照D-H参数法建立了Puma250机器人连杆结构模型。对机器人的运动学特性进行仿真实验,并验证了机器人逆运动的多解性,给出Puma250机器人连杆末端直线运动轨迹仿真方法,并提出其仿真运动过程中直线插补点精确值的求解方法。

The structure and linkage parameters of the Puma250 robot are analyzed in the paper.the model of Puma250 robot linkage structure is established according to its D-H parameter by using MATLAB tools.The kinematics characteristics of the robot are simulated and the multi-solution of the inverse kinematics of the robot is verified.The simulation method of the linear motion trajectory of Puma250 robot is presented,and the solution method of the exact value of the linear interpolation point in the simulation is realized in the paper.