摘要
机械制造业是国家的重要支柱产业,以工业机器人等为典型代表的高端装备是相关产业自动化、智能化水平的重要标志。工业机器人运动学是运动控制的基础,涉及所有与运动有关的几何参数和时间参数。运动学作为轨迹规划的理论基础,一直是工业机器人的研究重点。对工业机器人的正运动学和逆运动学进行了简要介绍,对其研究进展进行了总结,指出了目前运动学研究存在的关键问题。
Machinery manufacturing industry is an important pillar industry of the country.High-end equipment represented by industrial robots is an important symbol of automation and intelligence in related industries.Industrial robot kinematics is the basis of robot motion control,which involves all the geometric parameters and time parameters related to motion.Kinematics as the theoretical basis of trajectory planning has always been the focus of industrial robots.This paper introduces the kinematics and inverse kinematics of industrial robots briefly,summarizes the research progress and points out the key problems in current kinematics research.
作者
胡喜雷
张长青
于航
杨光
郭庆鹏
HU Xi-lei;ZHANG Chang-qing;YU Hang;YANG Guang;Guo Qing-peng(Research Institute of New technology,Chinese Academy of Forestry,Beijing 100091,China;Beijing Forestry Machinery Research Institute of the State Forestry and Grassland Administration,Beijing 100029,China)
出处
《林业和草原机械》
2021年第3期9-15,共7页
Forestry and Grassland Machinery
基金
中央级公益性科研院所基本科研业务费专项资金:四头电主轴操作臂耦合木构件运动控制系统研究(项目编号:CAFYBB2020SY043)。
关键词
工业机器人
正运动学
逆运动学
研究进展
industrial robots
forward kinematics
inverse kinematics
research status
