摘要
从某典型6R工业机器人为研究对象,通过其结构图建立连杆坐标系、D-H参数表和结构参数下的齐次变换矩阵。利用MATLAB对该机器人正、逆运动学问题进行分析和运算,与RobotStudio机器人控制系统中的数据对比,表明两者结果一致,验证了模型的准确性。通过进行关节空间轨迹规划,分析机器人关节的稳定性。
With a typical 6R industrial robot as the research object, its linkage coordinate system, D-H parameter table and the homogeneous transformation matrix under the structural parameters are established through its structure diagram. The forward and inverse kinematics problems are analyzed and calculated by MATLAB, and compared with the data in the RobotStudio robot control system. The results show that the two outcomes are consistent, which verifies the accuracy of the model. The final step is taken to analyze the stability of robot joints by joint space trajectory planning.
作者
叶泉
王建华
YE Quan;WANG Jianhua(Department of Automation Engineering,Nanjing Vocational Institute of Mechatronic Technology,Nanjing 211306,China;Crane Inspection Center,Jiangsu Institute of Special Equipment Safety Supervision and Inspection,Nanjing 210000,China)
出处
《机械制造与自动化》
2022年第5期114-117,共4页
Machine Building & Automation
基金
质检总局项目(KJ175940)
2021年度高校哲学社会科学研究一般项目(2021SJA0776)
江苏省高校“青蓝工程”优秀青年骨干教师资助项目(苏教师函[2022]29号)。
关键词
工业机器人
D-H参数法
机器人运动学仿真
轨迹规划
industrial robot
D-H parameter method
robot kinematics simulation
trajectory planning
