摘要
以6-DOF双臂机器人为研究对象,利用MATLAB建立D-H模型,对运动轨迹分别进行七次多项式插值和5次B样条插值,最后通过Adams建立机械臂虚拟样机,对其进行动力学仿真。仿真结果表明B样条曲线插值法对运动轨迹插值有较好地适应性,为机械臂运动控制问题研究提供了必要的理论基础。
Taking the 6-DOF dual-arm robot as the research object,the D-H model is established by using the MATLAB,and the motion trajectory is interpolated by seven degree polynomials and five degree B-splines respectively. Finally,the virtual prototype of the manipulator is established through the Adams,and its dynamics simulation is carried out. The simulation results show that the B-spline interpolation method has good adaptability to the motion trajectory interpolation,which provides the necessary theoretical basis for research of the manipulator motion control.
作者
朱永飞
查文斌
周攀
徐向荣
ZHU Yong-fei;ZHA Wen-bin;ZHOU Pan;XU Xiang-rong(Anhui University of Technology,Ma′anshan Anhui 243000,China)
出处
《机械研究与应用》
2020年第1期187-191,共5页
Mechanical Research & Application
基金
省科技厅重大共性关键技术项目:移动式双臂协作机器人关键技术研究与实验(编号:2017YFE0113200)。
