| 6R机器人轨迹规划及仿真 |
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| 引用本文： | 阮启刚,黄磊. 6R机器人轨迹规划及仿真[J]. 机械制造与自动化, 2011, 40(1) |
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| 作者姓名： | 阮启刚 黄磊 |
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| 作者单位： | 黄石理工学院机电工程学院,湖北,黄石,435003 |
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| 摘 要： | 在工业机器人的研究和设计过程中,轨迹规划的有关理论与应用一直是研究人员关注的重点.根据末端执行器所要完成的轨迹特点,分析了笛卡儿坐标空间和关节坐标空间轨迹规划的特点,基于Pro/E和MATLAB对6R机器人运动学进行了仿真.
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| 关 键 词： | 机器人 轨迹规划 仿真 |
Trajectory Planning and Simulation of 6R Robot |
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| RUAN Qi-gang,HUANG Lei. Trajectory Planning and Simulation of 6R Robot[J]. Machine Building & Automation, 2011, 40(1) |
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| Authors: | RUAN Qi-gang HUANG Lei |
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| Affiliation: | RUAN Qi-gang,HUANG Lei(School of Mechanic and Electric Engineering,Huangshi Institute of Technology,Huangshi 435003,China) |
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| Abstract: | In the research and design of robot,the researchers pay their special attention to the theoretics and application of trajectory planning.Based on the trajectory that the manipulator would complete,the characteristics of trajectory planning in Descartes coordinates and joint coordinates are analysed.Based on Pro/E and MATLAB,kinematics simulation of 6R robot is given. |
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| Keywords: | robot trajectory planning simulation |
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