摘要
对SYH1506K焊接机器人进行了运动学分析,讨论了其Denavit-Hartenberg参数及正逆解问题。从直线规划和三点圆弧规划两方面对SYH1506K焊接机器人的笛卡尔空间轨迹规划问题进行了研究,通过MATLAB软件工具箱进行仿真,得到较为快速的直线插补和圆弧插补方法。
The kinematics analysis of the SYH1506K welding robot was carried out, and its Denavit-Hartenberg parameters and positive and negative solutions were discussed. The Cartesian space trajectory planning of SYH1506K welding robot was studied from two aspects - linear programming and three-point arc programming. Based on the simulation via MATLAB software toolbox, more rapid linear interpolation and circular interpolation method were obtained.
作者
董威
倪受东
张琛
Dong Wei;Ni Shoudong;Zhang Chen
出处
《机械制造》
2019年第4期20-23,26,共5页
Machinery
基金
江苏省科技厅政策引导类计划(产学研合作)/前瞻性联合研究项目(编号:BY2016005-05)
关键词
焊接机器人
直线
圆弧
轨迹规划
Welding Robot
Linear
Circular Arc
Trajectory Planning
