摘要
为了方便地对关节型机器人进行结构验证、动作规划以及工作空间分析,提出了一种基于机器人混合模型的通用仿真平台设计方案。混合模型结合了机器人的D-H模型、图结构模型和ODE模型,以杆件的D-H参数作为平台人机交互接口。为克服D-H参数在描述树形或含闭链结构机器人上的歧义性问题,D-H模型被转化为图结构模型,利用图结构中顶点之间关系的任意性对机器人进行描述,最后遍历图结构模型并通过ODE引擎来完成仿真。在VS平台下实现了一个基于本方案的仿真平台,对2种不同类型的机器人进行了动作规划实验,验证了所提方案的有效性。
In order to joint-robot conveni model is mixed by ent, D-H make structure verification, action planning and analysis work space about a hybrid model based design solution of joint-robot is presented. The hybrid model, graph model and ODE（Open Dynamic Engine） model. D-H parame- ters about links are used to be human-computer interfaces, to avoid ambiguity when D-H parameters are used for tree structure and closed-chains robots. D-H model is transformed to graph model to de- scribe the robot by the characteristic of arbitrariness of the connections between vertices, and finally traverse the graph and complete the simulation with ODE. A robot simulation platform based on pro- posed method is designed and realized with VS, and two simulation experiments about different robots are given. The experiment results prove the effectiveness of the presented methods.
出处
《重庆理工大学学报（自然科学）》
CAS
2012年第6期82-88,共7页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(60905053)
