| 基于ADAMS平台的串联机器人运动学逆问题求解 |
| |
| 引用本文： | 陈美宏,焦恩璋.基于ADAMS平台的串联机器人运动学逆问题求解[J].机电工程技术,2008,37(12). |
| |
| 作者姓名： | 陈美宏 焦恩璋 |
| |
| 作者单位： | 南京林业大学机械电子工程学院,江苏,南京,210037 |
| |
| 摘 要： | 借助ADANS平台提供的点驱动和 ADAMS/PostProcessor模块,提出了求解六自由度串联机器人运动学逆问题的一种方法.这种方法可视直观、简单快捷,且求解结果就是机器人工作路径的最优解,便于实现对机器人的实时控制.此外,通过相应的转换程序还可以直接生成控制机器人运动的程序文件.
|
| 关 键 词： | 串联机器人 运动学逆问题 |
A Solution for Inverse Kinematics Problems of 6-DOF Serial Robots Based on ADAMS |
| |
| CHEN Mei-hong,JIAO En-zhang.A Solution for Inverse Kinematics Problems of 6-DOF Serial Robots Based on ADAMS[J].Mechanical & Electrical Engineering Technology,2008,37(12). |
| |
| Authors: | CHEN Mei-hong JIAO En-zhang |
| |
| Affiliation: | College of Mechanical and Electronic Engineering;Nanjing Forestry University;Nanjing 210037;China |
| |
| Abstract: | Based on general point motion and ADAMS/PostProcessor,a solution for inverse kinematics problems of 6-DOF serial robots is given.Using this visual,direct,simple and quick method,the result obtained is just the optimal solution for robot working path.Moreover,this method facilitates the realization of real-time control of the robot.Through the appropriate conversion process,robot control procedures can also be generated. |
| |
| Keywords: | ADAMS |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
