六自由度机器人运动学分析与轨迹规划

2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) Pub Date : 2019-03-15 DOI:10.1109/ITNEC.2019.8729280

Xuesong Zheng, Yujie Zheng, Y. Shuai, Jiping Yang, Shuang Yang, Ye Tian

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引用次数: 16

摘要

随着中国智能制造的大规模发展，机器人技术在工业领域得到了广泛的应用。针对六自由度机器人的运动，分析了机器人的结构和连杆参数，采用D-H参数法推导了机器人的正/逆运动学模型。通过轨迹规划仿真，分析了六自由度机器人在运动过程中的角度、角速度和角加速度。

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Kinematics analysis and trajectory planning of 6-DOF robot

With the large-scale development of Intelligent Manufacturing in China, robot technology has been widely applied in the industrial field. Aiming at the motion of six-degree-of-freedom robot, the structure and link parameters of the robot are analyzed, and the forward/reverse kinematics model of the robot is deduced by D-H parameter method. Through the simulation of trajectory planning, the angle, angular velocity and angular acceleration of the 6-DOF robot in the process of motion are analyzed.

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来源期刊

2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)

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