一种结合动力学分析的机器人离线编程技术研究

在ADAMS平台上对HP6机器人进行虚拟环境下按给定轨迹曲线的运动仿真，从获取的各关节转角和力矩数据中分析找出其力矩超限点，在不改变机器人手部位姿和轨迹曲线的条件下，通过人工调整相应关节的转角，降低关节负载，修正由离线编程系统生成的同一任务机器人程序的相应代码，实现了使机器人在保持各关节力矩值处于安全水平下的轨迹规划和离线编程，并给出了应用实例。

The Robot Offline Program Technology Research Combined with Dynamic Analysis

The motion simulation given trajectory curve under the virtual environment on the HP6 robot is carried on the ADAMS platform.According to the analysis of the acquired data of joint rotation and torque,identify its torque gauge.Under the condition of no changing the robot's hand posture and the track,realize the track of planning and offline program in maintaining the value of torque and at a joint security level,only by artificial adjustment of corresponding joints to low the joint load and amending the cor...