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六自由度工业机械臂运动学仿真研究

云洋 宋华 徐炳吉

云洋, 宋华, 徐炳吉. 六自由度工业机械臂运动学仿真研究[J]. 机械科学与技术, 2018, 37(8): 1167-1176. doi: 10.13433/j.cnki.1003-8728.20180029
引用本文: 云洋, 宋华, 徐炳吉. 六自由度工业机械臂运动学仿真研究[J]. 机械科学与技术, 2018, 37(8): 1167-1176. doi: 10.13433/j.cnki.1003-8728.20180029
Yun Yang, Song Hua, Xu Bingji. Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(8): 1167-1176. doi: 10.13433/j.cnki.1003-8728.20180029
Citation: Yun Yang, Song Hua, Xu Bingji. Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(8): 1167-1176. doi: 10.13433/j.cnki.1003-8728.20180029

六自由度工业机械臂运动学仿真研究

doi: 10.13433/j.cnki.1003-8728.20180029
基金项目: 

国家自然科学基金项目(61273200)资助

详细信息
    作者简介:

    云洋(1993-),硕士研究生,研究方向为工业机器人动力学,智能控制系统,873464615@qq.com

    通讯作者:

    宋华,副教授,博士,songhua@buaa.edu.cn

Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms

  • 摘要: 为了解决传统插补方法机械臂运行缓慢的问题,采用一种构造雅可比函数的方式来对目标曲线进行插补,根据目标曲线计算出曲线上每个点的雅可比矩阵,形成雅可比矩阵函数,再将目标曲线拟合成末端速度函数,进而求得机械臂每个关节的角速度函数。实时计算机械臂的雅可比矩阵,根据机械臂末端需要的速度,计算出每个关节的速度,这样就能保证机械臂末端在工作空间每个位置的速度可控,同时使用KUKA KR30-3工业机器人模型对其进行仿真验证并就其在头盔加工方面进行仿真分析。仿真结果表明,在避开机械臂奇异位姿的情况下,根据末端位置函数能够计算出机械臂每个关节角的速度函数,并且能够保证速度的连续性。
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出版历程
  • 收稿日期:  2017-06-13
  • 刊出日期:  2018-08-05

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