摘要
针对六自由度模块化机器人,使用D-H法对机器人建立模型,进行运动学分析,完成机械臂精确控制和轨迹规划.通过Matlab软件构造仿真模型,实现机械臂实体模型的线条化表示,简化了机器人三维结构建模的过程.重点进行关节运动学机理分析,利用Matlab软件的矩阵运算能力强大的优点,对模块化机器人的正、逆运动学问题进行求解,以及对轨迹规划进行仿真,分析机器人运动规律,为机器人运动控制提供理论依据.
According to a six degrees of freedom modular robot,a simulation model was established based on D- H method, kinematics analysis was conducted and precise control and trajectory planning were completed. Through Matlab software,the line representation of entity robot model was constructed, the 3D modeling process was simplified. Focusing on mechanism analysis of joint kinematics, the forward and inverse kinematic problems of modular robot were solved by taking advantage of the strong matrix manipulation capability of Matlab software. Then,the simulation of trajectory planning was carried out, the motion law of the robot was analyzed, which can provide a theoretical basis for the robot motion control.
出处
《上海工程技术大学学报》
CAS
2014年第1期52-57,共6页
Journal of Shanghai University of Engineering Science
基金
上海市科委重点攻关资助项目(071105121)
