| 大型喷浆机器人的运动学正解研究 |
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| 引用本文： | 闫成新.大型喷浆机器人的运动学正解研究[J].组合机床与自动化加工技术,2010(8). |
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| 作者姓名： | 闫成新 |
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| 作者单位： | 中国石油大学(华东)机电工程学院,山东,东营,257061 |
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| 基金项目： | 国家863计划资助项目 |
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| 摘 要： | 机器人的运动学正解是求解机器人末端位姿、进行轨迹规划的重要依据。对现有机器人运动学正解求解方法进行研究,结合大型喷浆机器人具体特点,使用齐次变换法得到了机器人的运动学正解。使用蒙特卡洛法对机器人的运动学正解进行仿真分析,仿真结果与实际工作空间非常吻合,证明了计算结果的正确性。
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| 关 键 词： | 喷浆机器人 运动学正解 蒙特卡洛法 |
Study on Direct Kinematics Problem of the Large Scale Shotcrete-robot |
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| YAN Cheng-xin.Study on Direct Kinematics Problem of the Large Scale Shotcrete-robot[J].Modular Machine Tool & Automatic Manufacturing Technique,2010(8). |
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| Authors: | YAN Cheng-xin |
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| Affiliation: | YAN Cheng-xin(College of Mechanical Engineering,China University of Petroleum,Dongying Shandong 257061,China) |
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| Abstract: | Direct kinematics solutions of robot are important for solving its final posture and routine planning.On comparing method solving direct kinematics problem and considering the structure of the large scale shotcrete-robot,the direct kinematics solutions are given by homogeneous transformation based on D-H matrix.Monte-Caro method is applied to simulating the direct kinematics solutions.The simulating result fit the real workspace well,which demonstrate the correctness of our algorithm. |
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| Keywords: | shotcrete-robot direct kinematics problem Monte-Caro method |
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