摘要
弧焊机器人作为一种典型的6自由度串联机器人,在汽车等行业中发挥着越来越重要的作用。本文以一款自主研发的弧焊机器人为实例,建立D-H坐标系,进行机器人的运动学分析,并在此基础上完成机器人笛卡尔空间的直线和圆弧轨迹规划。编写MFC应用程序,将生成的数据点在Matlab平台上进行绘图,验证理论计算的正确性。
Arc welding robots, as typical 6-DOF serial robots, are gradually playing an important role in the automotive and other industries. In this paper, taking an independently designed arc welding robot as an example, demonstrated the establishment of D-H coordinate system, the robot kinematic analysis, and run a robot Cartesian space of linear and circular trajectory planning based on previous work. Employing a MFC application program, the derivatively generated data points are plotted in the Matlab to verify the correctness of the theoretical calculations.
作者
宋涛
Tao Song(School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing)
出处
《人工智能与机器人研究》
2013年第1期54-59,共6页
Artificial Intelligence and Robotics Research
关键词
弧焊机器人
运动学分析
笛卡尔空间
轨迹规划
Arc Welding Robot
Kinematics Analysis
Cartesian Space
Trajectory Planning
