摘要
以三菱RV-4FL-D机械手为研究对象,使用标准D-H法建立运动学模型,分析研究六自由度机械臂。利用MATLAB仿真软件平台上的Robotics Toolbox,对机械臂进行正、逆运动学分析和轨迹规划仿真研究。并在实际三菱机械臂上对仿真数据进行测试。试验结果表明,建立的运动学方程正确可行,仿真所获得的数据可以应用到实际机械臂的运动控制中,实现准确、可靠运行。
In order to analyze and study the six-degrees-of-freedom manipulator,the kinematics model was established using the standard D-H method with Mitsubishi RV-4FL-D manipulator as the research object. The forward and inverse kinematics analysis and trajectory planning simulation of the manipulator were carried out using the Robotics Toolbox on the MATLAB simulation software platform. The simulation data was tested on the actual Mitsubishi manipulator. The experimental results show that the established kinematics equation is correct and feasible,and the data obtained by simulation can be applied to the motion control of the actual manipulator to achieve the accurate and reliable operation.
作者
付香雪
韩顺杰
张冬冬
于佳文
FU Xiang-xue;HAN Shun-jie;ZHANG Dong-dong;YU Jia-wen(College of Electric and Electronic Engineering,Changchun University of Technology,Changchun 130012,China)
出处
《包装与食品机械》
CAS
北大核心
2018年第5期47-50,41,共5页
Packaging and Food Machinery
基金
吉林省科技厅计划项目(20150204023GX)
关键词
六自由度机械臂
正、逆运动学分析
轨迹规划
MATLAB仿真
six-degrees-of-freedom manipulator
forward and inverse kinematics analysis
trajectory planning
MATLAB simulation
作者简介
付香雪（1993-）,女,硕士研究生,研究方向为光电伺服,通信地址：130012吉林长春市延安大街2055号长春工业大学电气与电子工程学院,E-mail：813510287@qq.com.
