摘要
研究了两自由度的五杆并联机器人运动轨迹的插补问题,提出了一种小直线增量步长算法,利用雅各比矩阵按照给定误差要求实现运动轨迹的插补算法。并且提出了一种,利用通用数控系统实现五杆并联机器人运动的方法。插补算法在仿真实验的基础上,在Mach3系统上实现了样机实验,取得了预期的结果。
The interpolation problems of five-bar parallel robot＇s trajectory with 2-DOF is studied in this paper.An algorithm which can get incremental step through small line is proposed.The interpolation algorithm of the trajectory is achieved according to the given error requirement by using the Jacoby matrix.A method to realize the movement of the five-bar parallel robot with the usual control system is put forward.The implement of prototype experiment is realized on the Mach3 system,which is based on the above proposed algorithm with the simulation experiment.The expected results is obtained.
出处
《青岛大学学报（自然科学版）》
CAS
2010年第4期65-68,78,共5页
Journal of Qingdao University(Natural Science Edition)
关键词
并联机器人
插补算法
运动轨迹
parallel robot
trajectory
Interpolation Algorithm
