摘要
提出了一种基于机器人运动空间的建模方法,该方法在笛卡尔空间以关节点坐标为对象,建立机器人运动空间的数学模型,得到关节点的位置,再根据机器人的结构特点得到关节的角度。通过对数学模型的求导,得到机器人运动空间的速度模型,进而求出关节的速度。最后,以PUMA560机器人为例进行了验证。
This paper proposed a modeling method based on robot motion space. In this method, taking the joint point coordinates in Cartesian space as object, the mathematical model of robot motion space was established, hence the positions of joints were obtained. In addition, according to the robot structure characteristic, the joint angles were obtained. Furthermore, deducing the mathematical model established above, the velocity model of the robot motion space was achieved, so that the velocity of the joints would be calculated . Finally, the verification has been carried out, taking PUMA560 robot as an example.
作者
陈洪
CHEN Hong(Fujian Province Sanming City Dongchen Machinery Manufacturing Co.,Ltd.,Sanming 365500,Chin)
出处
《机械工程与自动化》
2018年第3期175-176,共2页
Mechanical Engineering & Automation
关键词
串联机器人
空间解析法
逆解
轨迹规划
series robot
space analytic
inverse kinematics
trajectory planning
作者简介
陈洪（1967-）,男,福建三明人,高级工程师,本科,从事自动化设备的研发工作.
