摘要
在机器人运动性能优化控制中,由于机器人多关节结构的复杂性与运动学的高难度,导致高度仿真的机器人运动控制难以实现的问题。为避免仿真的失真,提出了一种采用D-H参数模型的机器人实时运动控制仿真方法,根据机器人各连杆部件的尺寸与位置参数,绘制3D部件,再进行D-H参数模型整合,以机器人运动学算法对模型加以控制,实验结合Matlab和Soildworks软件作为平台,对经典机器人puma560进行仿真,实现了各个连杆部件的实时控制,实现了末端工具轨迹的运动平滑规划并对运动过程录像,结果表明,提出的方法能为实现机器人运动控制性能优化设计提供科学参考。
Due to the complexity of a robot＇ s structure and high difficulty of kinematics,it is hard to control highly simulated robot motion in the robot simulation.In order to avoid the distortion of robot simulation,the simulation method of robot＇s real-time motion control based on D-H parameter model is put forward.3D parts are drawn in accordance with the size and location parameter of every robot＇ s connecting rod part.The robot pumaS60 is taken as simulation object and the combination of Matlab and SoildWorks as the platform.Simulation results show that the real-time control of every robot＇ s connecting part and the path planning of its ending tools are achieved,and the video is also taken in robot＇ s movement process.It shows that optimization method can realize the control of robot movement.
出处
《计算机仿真》
CSCD
北大核心
2016年第5期280-284,共5页
Computer Simulation
基金
四川省科技创新苗子工程项目(2015024)
四川省科技支撑项目(2014GJ0021)
关键词
机器人工具箱
运动控制
结构建模
轨迹规划
Robotics toolbox
Motion control
Structure modeling
Path planning
