工业机器人运动学建模与轨迹规划

2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI:10.1109/ICMIC.2018.8529911

W. Ma, Guanbin Gao, Jun Zhao

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引用次数: 0

摘要

运动学模型是工业机器人运动控制的重要内容。本文采用改进的Denavit-Hatenberg (D-H)方法建立了工业机器人的运动学模型。首先，分析了EFORT工业机器人各环节的结构特征和参数，得到了基于改进D-H法的运动学方程。在建立运动学模型的过程中，利用了MATLAB强大的矩阵计算能力。此外，仿真是通过机器人工具箱进行的，这也是MATLAB的一个模块。在此基础上，随机选取六组关节角度对运动学模型进行验证。最后进行了轨迹规划仿真，结果表明机器人的运动是稳定的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kinematics Modelling and Trajectory Planning for an Industrial Robot

Kinematic model is important for the motion control of industrial robots. In this paper, the modified Denavit-Hatenberg (D-H) method is used to construct the kinematic model for industrial robots. Firstly, the structural characteristics and parameters of each link for an EFORT industrial robot are analyzed and a kinematic equation based on the modified D-H method is obtained. The strong ability of MATLAB in calculating matrix is utilized during the process of building the kinematic model. In addition, the simulation is carried out by means of the Robotics Toolbox, which is also a module of MATLAB. Furthermore, six groups of joint angles are randomly chosen to verify the kinematic model. Finally, the trajectory planning simulation is conducted, and it shows that the movement of the robot is stable.

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2018 10th International Conference on Modelling, Identification and Control (ICMIC)

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