摘要
机械臂有利于提高工厂生产效率和改善操作性能。运动空间、动力学和控制理论是工业机械臂研究的基础。以五轴机械臂为研究对象,对机械臂进行了建模、仿真和分析。运用D-H参数法建立机械臂的运动学模型,计算正运动方程,求出逆运动解。基于MATLAB的Robotics Toolbox构造机械臂的数学模型,实现了正、逆运动的数值计算和运动空间仿真。
Research on the robotic arm is conducive to improving the production efficiency of the factory and improving the operating performance. The motion space, dynamics and control theory are important foundations for the research of industrial robotic arms. Takes the five-axis manipulator as the research object, and the manipulator is modeled, simulated and analyzed.Using the D-H parameter method, the kinematics model of the manipulator is established, the forward motion equation is calculated, and the inverse motion solution is obtained. Robotics Toolbox based on MATLAB realizes the mathematical model of the manipulator, and realizes the numerical calculation of the forward and inverse motion and the motion space simulation.
作者
樊宏升
FAN Hongsheng(Beijing Tianma Intelligent Control Technology Co.,Ltd.,Beijing 100013)
出处
《现代制造技术与装备》
2022年第11期88-90,97,共4页
Modern Manufacturing Technology and Equipment
关键词
多轴机械臂
运动学
动力学
D-H法
蒙特卡洛法
multi-axis manipulator
kinematics
dynamics
D-H method
Monte Carlo method
