| 基于六自由度工业机器人的D H模型及仿真分析 |
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| 引用本文： | 莫毅. 基于六自由度工业机器人的D H模型及仿真分析[J]. 机床与液压, 2017, 45(11): 64-68. DOI: 10.3969/j.issn.1001-3881.2017.11.015 |
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| 作者姓名： | 莫毅 |
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| 作者单位： | 广西工业职业技术学院电子与电气工程系,广西南宁,530001 |
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| 基金项目： | 2015年度广西高校科学技术研究项目，广西工业职业技术学院2014年度科学研究项目 |
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| 摘 要： | 针对目前实验室已经开发完成的六自由度机器人,基于D-H模型建立机器人的运动学模型,在MATLAB环境下自行编制了对应的计算机数值计算程序,并进行了仿真模型分析,最后结合具体的机器人实例,对六自由度机器人标准姿态进行本体标定试验,并通过试验结果对比。结果表明:实验室机器人标定后的定位精度与实际精度非常接近,机器人的标准姿态的定位精度有大幅度提高。
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| 关 键 词： | 六自由度 工业机器人 D-H模型 本体标定 |
D H Modeling and Simulation Analysis Based on Six Degree of Freedom Industrial Robot |
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| MO Yi. D H Modeling and Simulation Analysis Based on Six Degree of Freedom Industrial Robot[J]. Machine Tool & Hydraulics, 2017, 45(11): 64-68. DOI: 10.3969/j.issn.1001-3881.2017.11.015 |
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| Authors: | MO Yi |
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| Abstract: | The six degree of freedom(6-DOF)industrial robot currently developed in the laboratory was focused on.The robot kinematics model was established based on D-H model,in MATLAB environment,computer numerical corresponding calculation program was self-prepared,and simulation analysis for the model was carried out.Finally combined with specific examples of the robot,the calibration tests of robot of 6-DOF standard body posture were done.By comparing the test results,the positioning accuracy of the robot after calibration in laboratory and the actual accuracy are very close,and the positioning accuracy of standard posture of the robot has greatly improved. |
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| Keywords: | Six degrees of freedom Industrial robot D-H model Calibration body classification |
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