摘要
以ABB公司生产的ARB-120型机器人为研究对象,采用D-H法建立各杆件坐标系,并应用齐次变换矩阵建立运动学方程;在MATLAB的环境下,使用Robotics Toolbox工具箱建立该机器人的数学模型,并对其进行运动学仿真及轨迹规划。实验数据表明所建模型可以准确、有效地获得机器人的运动参数和运动轨迹,这对于深入研究多自由度机器人的动力学、控制算法及轨迹规划具有重要的理论意义。
With the ARB-120 robot of ABB company as the research object, the each link coordinate system was established with D-H method, and homogeneous transformation matrix was applied to con- struct kinematical equation of the robot; In the MATLAB environment, use the Robotics Toolbox to es- tablish the mathematical model of the robot, and carries on the kinematics simulation and trajectory plan- ning. Experimental result shows that the model can get the movement parameters and trajectory accurate- ly and efficiently, it has important theoretical significance for the further study of the dynamics of the ro- bot with more freedom, algorithm controlling and the trajectory planning.
出处
《组合机床与自动化加工技术》
北大核心
2013年第3期67-69,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(510650210)
