基于Open Inventor的机器人运动学仿真和轨迹规划研究  

Research on Kinematics Simulation and Trajectory Planning of Robot Based on Open Inventor

作　　者：王伟东[1] 钱东海[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机械与电子》2010年第5期59-63,共5页Machinery & Electronics

摘　　要：针对KUKA公司生产的KR150-2型六自由度机器人,借助UG软件对机器人进行三维实体建模.采用Denavit-Hartenberg坐标变换方法建立了机器人运动学模型,并利用Open Inventor和VisualC++6.0编写了运动学正解、逆解、轨迹规划的程序.最后实现了在Open Inventor环境下机器人的运动仿真.A 3 - D entity model was built adopting UG software for KR150 -2 robot with six degree of freedom from KUKA of Germany. Denavit -Hartenberg coordinate transformation method was employed to set a robot kinematics model,and the positive solution, inverse solution, trajectory planning program for kinematics was compiled in Visual C＋＋6.0. Finally, robot motion simulation through which mathematical model and geometric model of robot are validated mutually is achieved in the Open Inventor environment.

关 键 词：OPEN INVENTOR 建模 机器人仿真 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]