基于MATLAB的采棉机器人运动学仿真  

Kinematics Simulation of Cotton Picking Robot upon MATLAB

作　　者：袁新芳[1] 袁建宁[1] 于滨[1] 

机构地区：[1]南京工程学院机械工程学院,江苏南京211167

出　　处：《能源技术与管理》2007年第6期155-157,共3页Energy Technology and Management

基　　金：江苏省高校自然科学研究计划项目(05KJD210085);先进数控技术江苏省重点实验室开放基金项目(KXJ05012;KXJ06123)

摘　　要：对采棉机器人的运动学进行建模与分析。根据D-H坐标变换法建立了空间坐标系,并在此基础上推导出了采棉机器人的运动学方程,并求出逆解。用MATLAB7.0建立了求逆解的程序和仿真系统软件,仿真所得到的结果对于路径规划、控制等方面的研究具有重要的参考价值;仿真实例证明了逆运动学算法的正确性。A mathematics model of kinematics is established and analysed in this paper. A three-dimension coordinate is built based on the D-H coordinate transformation method. The inverse kinematics arithmetic about the robotic for picking cotton is deducted according to this,and the inverse solution is obtained. Programming about inverse solution and simulation system are built by using MATLAB7. The results of simulation have important reference value in the study of path planning, control of robots etc; And the example of simulation proves the validity of the method.

关 键 词：运动学 逆解 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]