基于MATLAB的机器人运动学分析与轨迹规划

2021 IEEE International Conference on Power Electronics, Computer Applications (ICPECA) Pub Date : 2021-01-22 DOI:10.1109/icpeca51329.2021.9362635

Wei Shen

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引用次数: 1

摘要

以PUMA560机器人为载体，建立了PUMA560机器人的数学模型和连杆坐标系，并联编写了PUMA560机器人的运动学方程。利用MATLAB软件中的机器人工具箱机器人工具箱模块，得到PUMA560机器人的正运动学解和逆运动学解。最后，完成了机器人的轨迹仿真，为后续的研究奠定了基础。

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Kinematics Analysis and Trajectory Planning of Robot Based on MATLAB

Taking PUMA560 robot as the carrier, the mathematical model and connecting rod coordinate system of PUMA560 robot are established, and its kinematics equations are written in parallel. The forward and inverse kinematics solutions of PUMA560 robot are obtained by using the robot toolbox robotics toolbox module in MATLAB software. Finally, the robot trajectory simulation is completed, which lays the foundation for future research.

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2021 IEEE International Conference on Power Electronics, Computer Applications (ICPECA)

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