| 基于MATLAB-Robotics工具箱的工业机器人轨迹规划及仿真研究 |
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| 引用本文： | 于天宇,李达,宋宝玉.基于MATLAB-Robotics工具箱的工业机器人轨迹规划及仿真研究[J].机械工程师,2011(7):81-83. |
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| 作者姓名： | 于天宇 李达 宋宝玉 |
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| 作者单位： | 1. 哈尔滨工业大学，英才学院，哈尔滨，150001
2. 哈尔滨工业大学，机电工程学院机械设计系，哈尔滨，150001 |
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| 摘 要： | 对Cincinnati T3-746工业机器人的运动学轨迹规划进行了分析与仿真。通过实验对该工业机器人的三关节的关节轨迹进行了三次多项式插值运算。利用MATLAB-Robotics工具箱对该工业机器人进行了建模,实现了对工作空间内任意直线、圆弧轨迹拟合插值运算。通过运动学正反解的计算,得到了实时的关节空间坐标的数值解。为该工业机器人进一步的研究和应用提供了理论分析依据。
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| 关 键 词： | 工业机器人 轨迹规划 MATLAB Robotics工具箱 |
Research on Trajectory Planning and Simulation of Industrial Robots Based on MATLAB-Robotics Toolbox |
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| YU Tian-yu,Li-da,SONG Bao-yu.Research on Trajectory Planning and Simulation of Industrial Robots Based on MATLAB-Robotics Toolbox[J].Mechanical Engineer,2011(7):81-83. |
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| Authors: | YU Tian-yu Li-da SONG Bao-yu |
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| Affiliation: | 1.Honors School;2.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | The paper analyzed and simulated on kinematic trajectory planning of industrial robots Cincinnati T3-746.Cubic polynomial interpolation and experimental method was used in joint trajectory planning on this robot.This experiment modeled on this robot,realized trajectory fitting and interpolation of any straight line and circular curve in working area by using MATLAB-Robotics Toolbox.By using kinematics and inverse kinematics solutions,this experiment gets real-time numerical solution in joint space coordinates.It provided theoretical basis for further research and application on industrial robots. |
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| Keywords: | industrial robots trajectory planning MATLAB robotics toolbox |
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