摘要
运动学研究是加油机器人研究中必须解决的一个关键问题,是实现机器人运动控制的基础。以五自由度加油机器人为研究对象,以D-H坐标系理论为基础并建模,对机器人进行了运动学分析。在Solid Works中建立了机器人三维模型,并利用MATLAB工具,针对具体实例进行了运动学逆解验证。结果表明,运动学逆解方法合理可行。
Kinematics research is a key problem that must be solved in the research of refueling robots, and it is the basis for realizing robot motion control. Based on the D-H coordinate system theory and modeling, the kinematics analysis of the robot is carried out by using the 5-DOF refueling robot as the research object. Three-dimensional model of the robot was established in Solid Works, and the kinematics inverse solution was carried out for the concrete example using MATLAB tool. The results show that the kinematic inverse method is reasonable and feasible.
出处
《液压气动与密封》
2017年第10期49-52,共4页
Hydraulics Pneumatics & Seals
基金
国防科研项目(YX216J021)
