| 基于Open Inventor的机器人运动学仿真和轨迹规划研究 |
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| 引用本文： | 王伟东,钱东海. 基于Open Inventor的机器人运动学仿真和轨迹规划研究[J]. 机械与电子, 2010, 0(5): 59-63 |
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| 作者姓名： | 王伟东 钱东海 |
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| 作者单位： | 上海大学机电工程与自动化学院,上海,200072 |
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| 摘 要： | 针对KUKA公司生产的KR150～2型六自由度机器人，借助UG软件对机器人进行三维实体建模。采用Denavit—Hartenberg坐标变换方法建立了机器人运动学模型，并利用0penInventor和Visual C＋＋6．0编写了运动学正解、逆解、轨迹规划的程序。最后实现了在0pen Inventor环境下机器人的运动仿真。
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| 关 键 词： | Open Inventor 建模 机器人仿真 轨迹规划 |
Research on Kinematics Simulation and Trajectory Planning of Robot Based on Open Inventor |
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| WANG Wei-dong,QIAN Dong-hai. Research on Kinematics Simulation and Trajectory Planning of Robot Based on Open Inventor[J]. Machinery & Electronics, 2010, 0(5): 59-63 |
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| Authors: | WANG Wei-dong QIAN Dong-hai |
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| Affiliation: | WANG Wei- dong,QIAN Dong- hai (Mechanical Engineering Automation College,Shanghai University,Shanghai 200072,China) |
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| Abstract: | A 3 - D entity model was built adopting UG software for KR150 -2 robot with six degree of freedom from KUKA of Germany. Denavit -Hartenberg coordinate transformation method was employed to set a robot kinematics model,and the positive solution, inverse solution, trajectory planning program for kinematics was compiled in Visual C＋＋6.0. Finally, robot motion simulation through which mathematical model and geometric model of robot are validated mutually is achieved in the Open Inventor environment. |
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| Keywords: | Open Inventor |
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