摘要
以七自由度焊接机器人为研究对象,采用D-H法建立了数学模型,进行了正运动学和逆运动学算法分析。采用三维软件和MRDS对机器人进行联合建模,并基于MRDS对焊接机器人进行了仿真,利用Robotic Toolbox进行了相同的仿真实验,通过对位移、速度和加速度等仿真结果的对比分析,验证了MRDS下模型的正确性和仿真结果的可靠性。仿真系统能在较真实的环境下观察仿真过程且仿真效果逼真,奠定了机器人研究人员进行离线编程和仿真软件开发的基础。
Seven DOF welding robot was taken as the object of study in this paper,mathematics model was established by using the method of D-H,the forward kinematics algorithm and the inverse kinematics algorithm was analyzed. The robot model was established by using 3D software and MRDS,simulation of welding robot based on MRDS was carried out,and the same simulation experiment was carried out by using Robotic Toolbox. The correctness of model and the reliability of the simulation results was verified by the comparison of experiment results such as displacement,velocity and acceleration. The simulation system is able to observe the simulation process in a real environment and simulation effect is lifelike,it is a base for robotics researchers to develop offline programming and simulation software.
出处
《电子工业专用设备》
2016年第6期7-11,44,共6页
Equipment for Electronic Products Manufacturing
关键词
焊接机器人
运动学算法
仿真
Welding robot
Kinematics algorithm
Simulation
