基于SimMechanics的六自由度机械臂运动算法验证

The Movement Algorithm Validation of A 6-DOF Manipulator Based on SimMechanics

建立了基于SimMechanics模块的六自由度机械臂离线仿真平台,创建了机械臂模型,并在虚拟环境下根据六自由度机械臂末端的运动轨迹规划,通过逆运动学模型得到了各个关节角度数据,将其发送给伺服电机,从而驱动各个关节,使机械臂能够按照预期轨迹运动。通过离线仿真,证明了机械臂运动规划算法的正确性。

An offline simulating platform is established for the motional simulation of a 6-DOF manipulator with SimMechanics,in which the physical model will be built.According to the inverse kinematics calculating of the manipulator and its trajectory planning,we can get the interpolation data of every axis.In the virtual simulation environment,the data is given to the servo motors to driver every joint in order to make the manipulator move as it' s been programmed.By this offline simulating,it can be proved that the planning algorithm is correct.