一种机器人末端执行器的姿态控制算法

A Posture Control Algorithm for Robot End-effector

利用工业机器人实现飞机零部件自动制孔时,由于产品大多曲率大,且形状不规则,末端执行器很难用一种姿态完成加工。提出一种末端执行器加工姿态的初步控制算法,优化机器人制孔姿态,防止加工过程中出现碰撞干涉等情况,并基于DELMIA软件搭建了机器人制孔仿真平台,验证了该算法的可行性。

The curvature of aircraft parts is always large,and their shape is irregular.When robot is used to achieve aircraft drilling,it’s hard to finish under a certain end⁃effector posture.A posture control algorithm for robot end⁃effector was presented.By using this control algorithm,the robot drilling posture could be optimized,collisions during processing could be prevented.A virtual robot drilling simulation platform was established based on DELMIA.The feasibility of the control algorithm is verified by the simula⁃tion platform.