| 6R喷漆机器人的运动学分析与仿真 |
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| 引用本文： | 李志辉,廖小平,林义忠,夏薇. 6R喷漆机器人的运动学分析与仿真[J]. 机械设计与制造, 2010, 0(4) |
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| 作者姓名： | 李志辉 廖小平 林义忠 夏薇 |
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| 作者单位： | 广西大学,机械工程学院,南宁,530004 |
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| 基金项目： | 国家自然科学基金(50765001);;广西科技厅科技创新能力基金(桂科能0815011-6-6,0842006_012_Z);;广西教育厅科研基金(200708MS028) |
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| 摘 要： | 用Robotics Toolbox对机器人进行仿真建模,编写出机器人末端运动轨迹的可视化程序,完成了喷漆机器人的实时轨迹绘制,直观的了解机器人的工作空间。应用机器人工具箱编写Matlab仿真程序,验证运动学正逆解的正确性,为后续的动力学分析、轨迹控制尊定了基础。
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| 关 键 词： | 喷漆机器人 仿真 Matlab 运动学 Robotics Toolbox |
The kinematics analysis and simulation for 6R joint painting spraying robot |
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| LI Zhi-hui,LIAO Xiao-ping,LIN Yi-zhong,XIA Wei. The kinematics analysis and simulation for 6R joint painting spraying robot[J]. Machinery Design & Manufacture, 2010, 0(4) |
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| Authors: | LI Zhi-hui LIAO Xiao-ping LIN Yi-zhong XIA Wei |
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| Affiliation: | Mechanical Engineering College of Guangxi University/a>;Nanning 530004/a>;China |
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| Abstract: | The robot model was simulated with Robotics Toolbox,and the end Kinematics visualization trajectory program were painted.It can be seen directly the track of robots working space. simulation program were writed with robot toolbox. The simulation proved the corretness of forward,inverse kinematics. algorithum,and built the foundation for robot dynamics and trajectory control |
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| Keywords: | Spraying robot Simulation Matlab Kinematics Robotics toolbox |
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