摘要
分析6R机器人关节空间轨迹规划对操作空间速度的影响,采用D-H参数法建立6R机器人运动学正解,采用直接构造法建立6R机器人操作空间速度与关节空间速度之间的线性映射关系矩阵数学模型,通过MATLAB仿真分析三次多项式6R机器人关节空间轨迹规划对操作空间工具坐标系速度的影响。结果表明,6R机器人操作空间速度具有连续性,对优化6R机器人关节空间轨迹规划算法具有重要参考意义。
Aiming at analyzing the influence of joint space trajectory planning of 6R robot on operation space speed,the forward kinematics solution of 6R robot was established by D-H parameter method,and the linear mapping matrix mathematical model between operation space speed and joint space speed of 6R robot was constructed by direct construction method.The operation space of joint space trajectory planning of cubic spline 6R robot was analyzed by MATLAB simulation.The results show that the space velocity of 6R robot is continuous,which is of great significance to optimize the space trajectory planning algorithm for 6R robot.
作者
杨广新
Yang Guangxin(Zhejiang Information Engineering School,Huzhou,Zhejiang 313000,China;Huzhou Engineering Technician College,Huzhou,Zhejiang 313000,China)
出处
《机电工程技术》
2020年第10期144-145,185,共3页
Mechanical & Electrical Engineering Technology
