摘要
文章探讨了工业机器人轨迹规划的理论和研究方法,介绍了基于VC++的机器人轨迹规划软件的实现方法。该软件使机器人能够实时规划无碰轨迹,并利用ROSTY软件绘制无碰位姿的机构仿真简图。通过Motoman-HP3机器人的实验,实现了运用VC++应用程序调用Motocom32软件的外部接口函数对工业机器人进行轨迹规划的应用。仿真实验证明,所开发的机器人轨迹规划软件可以实现机器人的远程控制,能保证机器人定位的精度。
The paper discussed theory and research method of trajectory planning of industrial robot, and introduced realization method of software of trajectory planning of industrial robot based on VCq-＋. The software can make robot to plan collision-free trajectory in real-time, and use ROSTY software to draw simulation diagram of mechanism of collision-flee position and pose. Meanwhile, through experiment of Motoman-HP3 robot, it realized application using external interface function of Motocom32 software called by VC＋ ＋ application program to plan trajectory for industrial robot. The simulation experiment proved that the software of trajectory planning of robot can realize remote control and ensures position precision for robot.
出处
《工矿自动化》
2009年第5期34-37,共4页
Journal Of Mine Automation
