摘要
通过MATLAB对机器人手臂进行仿真,研究了机器人手臂在关节空间中的轨迹规划,利用蒙卡洛法仿真得到机械手的工作空间云图,验证了运动学分析的正确性和机器人手臂各个参数及轨迹规划的合理性。说明机器人手臂的各个参数能实现预定的目标,缩短了调试时间,提高了设计效率,为机器人研究提供必要的理论基础。
MATLAB software is used for simulation analysis, the kinematics agencies of the robot arm is analyzed and the workspaces are researched by Monte Carlo Method and the results are reasonable. It proves that shortening the debugging time and improving the efficiency of design and provides a theoretical reference for the optimization design of the robot arm.
出处
《煤矿机械》
2016年第3期20-24,共5页
Coal Mine Machinery
