机器人最佳轨迹规划和图形仿真的研究

A STUDY ON OPTIMAL TRAJECTORY PLANNING AND GRAPHIC SIMULATION OF ROBOT MANIPULATORS

本文介绍了基于 IBM-PC 微机的机器人轨迹规划的图形仿真系统.该系统可用于机器人运动学分析和最佳轨迹规划,并能产生机械手和广义物体组成的环境物的三维几何模型.系统以交互方式工作.在微机的 CRT 上,机械手连杆的运动具存动态效果.基于 MINIMAX 准则,我们提出了一种动力学性能指标用于轨迹规划.根据该指标所进行的轨迹规划可以获得最小的关节驱动力矩.最后,文中给出了 PUMA 560 机械手的仿真结果.

This paper describes a graphic simulation system of trajectory planning of robot,manipulators onIBM-PC.This system can be to analyze kinematics and optimum trajectory planning of robots.A threedimensional geometrie model of a manipulator and its envirinment consistion of generalized,bodies can begenerated.The system simulates under interactive code.The movement of link of manipulator has dynamiceffect on CRT of a microcomputer.Based on the MINIMAX principle,we present dynamic performanccindex for trajectory planning.Path planning carried out by this index will be made into minimum.joint driving torques.At last,simulation results of a PUMA 560 manipulator are given.