摘要
以IRB 1600机器人为研究对象,建立机器人连杆坐标系,完成机器人正逆运动学分析。利用三维建模软件创建机器人模型,并把三维模型转换成统一机器人描述格式;然后,创建机器人运动规划所需要的配置和启动文件,搭建基于机器人操作系统的仿真平台,并在三维可视化工具中显示机器人模型;最后对机器人进行直线和圆弧规划,分析其各关节角度和位置变化。实验结果表明机器人各关节运动轨迹稳定、精度较高,为机器人运动规划提供了方法。
By taking robot IRB 1600 as the research object,the robot linkage coordinate system is established to perform the robot forward and inverse kinematics analysis.3D modeling software is used to create a robot model which is converted into a unified robot description format(URDF).And then,the configuration and startup files needed for robot motion planning is created.A simulation platform based on the ROS(robot operating system)is built.The robot model is displayed in the 3D visualization tool.The line and arc of the robot is calculated and the angle and position of each joint are analyzed.Experimental results show that the motion curve of each joint of the robot is stable and the motion precision is high.Therefore,the model provides a method for robot motion planning.
作者
杨幸博
张俊豪
李凯
李云龙
YANG Xingbo;ZHANG Junhao;LI Kai;LI Yunlong(College of Mechanical and Electrical Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002,China)
出处
《现代电子技术》
2021年第1期172-175,共4页
Modern Electronics Technique
基金
国家自然科学基金(51775517)
河南省科技创新杰出青年基金(184100510007)。
