摘要
根据各连杆D-H参数建立了工业机器人的数学模型,并利用封闭解的求解方法推导了机器人运动学公式。基于开放式、模块化设计理念,确定了6关节型搬运机器人控制系统硬件总体方案,完成了主电路、信号接口电路、伺服通讯电路和其他相关辅助电路的设计。建立了6关节型搬运机器人的六连杆旋转模型,同时对运动学正逆解算法、空间直线以及圆弧插补进行了仿真,验证了机器人数学模型的正确性以及插补算法的有效性,同时在已搭建起来的机器人运动控制系统上进行相关实验验证。
Based on the DH parameters of the connecting rod,the mathematical model of the robot is established,and by deducing the solution of the closed solution,the kinematic formula of the robot is obtained.Based on open and modular design concept,the hardware overall scheme of the six joint movement robot control system is determined.The design of the main circuit,the signal interface circuit,the servo communication circuit and other related auxiliary circuits is completed.The six-link rotation model of the six-articulation robot is established.At the same time,the spatial straight line and the circular interpolation are simulated to verify the robot.The correctness of the mathematical model has been validated.Meanwhile,relevant experiments are carried out on the robot motion control system.
出处
《金陵科技学院学报》
2017年第3期1-5,共5页
Journal of Jinling Institute of Technology
基金
金陵科技学院高层次人才科研启动基金(jit-b-201627)
