| 蔡慧明， 李可， 张秋菊.基于三维虚拟环境的机器人运动学分析与轨迹规划[J].轻工机械,2018,36(4):53-59 |
| 基于三维虚拟环境的机器人运动学分析与轨迹规划 |
| Robot Kinematics Analysis and Trajectory Planning Based on 3D Virtual Environment |
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| DOI：10.3969/j.issn.1005 2895.2018.04.011 |
| 中文关键词: 工业机器人 离线编程 轨迹规划 逆解算法 三维仿真 |
| 英文关键词:industrial robots offline programming trajectory planning inverse solution algorithm 3D simulation |
| 基金项目:国家自然科学基金(51775243)；江苏省重点研发计划：产业前瞻与共性关键技术(BE2017002)；江南大学自主科研计划重点项
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| 摘要点击次数: 1301 |
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| 中文摘要: |
| 针对目前工业机器人在线示教的编程方式阻碍了企业效益提高的问题，基于计算机图形学自主开发一款工业机器人离线编程软件。首先建立机
器人运动学模型，进行运动学分析，然后求解出高效的逆解算法。在关节空间下应用五次多项式进行轨迹规划，并且在自主开发的三维机器人离线编程软件得到
应用与仿真。研究结果表明仿真的过程中轨迹非常平顺，在MATLAB中进行验证也表明关节轨迹的平顺性。本研究的运动学分析与轨迹规划通过离线编程较好地
实现了机器人仿真运动，实现离线编程，从而提高了企业经济效益。 |
| 英文摘要: |
| In order to solve the problem that the online programming teaching method hinders the improvement of enterprise′s benefit, computer graphics to
develop an off line programming software of industrial robots was developed based on graphics. First, the kinematics model of the robot was established for the kinematics analysis,and
then the efficient inverse solution algorithm was solved. Under the joint space, the quintic polynomials was proposed to use for trajectory planning, which was also applied and simulated in
the independent development of three dimensional robot offline programming software. It can be concluded that the trajectory of the simulation is very smooth, the smoothness of joint
trajectory was also verified in MATLAB. The kinematics analysis and trajectory planning in this paper can well realize the robot simulation movement by off line robot programming, which
realizes off line programming, and thus to improve the economic benefits of enterprises. |
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