摘要
提出一种基于MATLAB编程来实现双机器人系统仿真模型的建立方法。首先,根据D-H参数对双机器人系统中的四、六自由度机器人分别建立连杆坐标系,确定各连杆之间的坐标变换关系。然后,确定双机器人系统的坐标关系,方便在双机器人系统工作时,计算二者末端执行器之间的变换矩阵。最后,通过MATLAB编程建立双机器人系统模型,并按照协调操作步骤要求对系统机器人进行轨迹规划。通过对轨迹规划结果的分析表明:仿真建模方法可以反映实际机器人系统的位姿和轨迹。
A method based on MATLAB programming to establish two robots system simulation model was proposed. Firstly, con- necting rod coordinates of four and six degree of freedom （DOF） robots in two robots system were built respectively according to D-H parameters. Then coordinate relationship between each rob of the two robots system was determined. Secondly, transformation matrices of the end effectors were calculated while two robots system operating. Thirdly, two robots system model was established via MATLAB programming, and trajectory of robots was planned according to assembling steps as required. Results analyses of trajectory planning show simulation model can reflect the actual position, orientation and trajectory of the robot system.
出处
《机床与液压》
北大核心
2016年第21期5-10,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(61301276)
西安工程大学学科建设经费资助(107090811)
陕西省教育厅科研计划项目资助(14JK1306)
