摘要
根据机器人运动学的理论知识,对铣挖机的机械手臂模型进行简化和数学建模。针对铣挖机局部径向掘进的路径规划问题,结合实际作业要求,从关节空间到笛卡尔空间,分别采取抛物线规划方法、圆弧路径规划方法,并进行理论分析和MATLAB仿真,论证采用结合笛卡尔空间的圆弧插补算法和关节空间的抛物线规划算法在铣挖机局部径向掘进路径规划领域的实用性和有效性。
According to the theory of robot kinematics, the mathematical model of robotic arms of milling ,drivers was built and simplified. Considering the actual requirements, a local radial route planning scheme was proposed which combined a parabola planning in the joint space and an arc planning in the Cartesian space in respect. Both theoretical analysis and MATLAB simulation demonstrate that the proposed combinational algorithm of route planning is practical and effective for the milling drivers in a local radial route.
出处
《机床与液压》
北大核心
2016年第21期26-29,共4页
Machine Tool & Hydraulics
关键词
铣挖机
机器人运动学
路径规划
Milling driver
Robot kinematics
Route planning
