摘要
使用常规的D-H参数法对五自由度教学型机器人进行了运动学分析。在此基础上,利用MATLAB中的SimMe-chanics工具箱结合Simulink软件包,建立了机器人运动学仿真模型,仿真实验表明,该模型可以方便地得到机器人的运动轨迹及坐标参数,并可以直观地观察机器人的动态运动过程,有利于机器人的分析和优化设计。关键词:机器人;运动学;MATLAB;
The kinematics simulation of robot is a kind of effective method in analysis of robot system. Kinematics problem of 5-DOF teaching robot is analyzed with D-H method. The simulation model is established based on SimMechanics toolbox of MATLAB combining with Simulink environment. The track and parameters of the robot can be easily obtained according to the simulation model. The movement process can be seen directly, analysis and optimized design can be done based on it.
出处
《现代制造工程》
CSCD
2007年第6期126-128,共3页
Modern Manufacturing Engineering
