| 基于B样条的6R机器人轨迹规划及仿真 |
| |
| 引用本文： | 勾治践,牛永康,王成.基于B样条的6R机器人轨迹规划及仿真[J].煤矿机械,2013,34(2). |
| |
| 作者姓名： | 勾治践 牛永康 王成 |
| |
| 作者单位： | 长春工业大学机电工程学院,长春,130012 |
| |
| 基金项目： | 吉林省教育厅"十二五"科学技术研究项目资助 |
| |
| 摘 要： | 针对6R工业机器人工作过程中要求运动平稳且轨迹光滑连续的问题,提出用三次均匀B样条曲线对各关节进行轨迹规划。分析了三次B样条曲线的反算过程,并以PUMA560机器人为例在关节空间插值得到其运动轨迹。基于CATIA和ADAMS对机器人各关节角的位移、速度和加速度等运动学参数进行仿真验证。
|
| 关 键 词： | 6R机器人 B样条 轨迹规划 ADAMS仿真 |
Trajectory Planning and Simulation of 6R Robot Based on B-splines |
| |
| Abstract: | The trajectory is planned with cubic uniform B-splines for the 6R industrial robot aimed to assure motion is smooth and trajectory is continuous in this paper.The inverse calculated process of cubic B-spline was analysed.The trajectory is gained in joint space for the PUMA560 robot.The kinematic parameters(trajectory,velocity and acceleration) are simulated and validated by software of CATIA and ADAMS. |
| |
| Keywords: | 6R robot B-splines trajectory planning ADAMS simulation |
| 本文献已被 万方数据 等数据库收录！ |
|
