服务机器人手臂轨迹规划的研究  

Research on the method of trajectory planning for a service robot arm

作　　者：徐新虎[1] 李桂琴[1] 王燕[1] 金国军[1] 

机构地区：[1]上海大学上海市机械自动化与机器人重点实验室,上海200072

出　　处：《机械设计与制造》2011年第2期144-146,共3页Machinery Design & Manufacture

基　　金：上海市重点学科建设项目(Y0102);上海市科委重点科技攻关项目(D10-0109-08-005)

摘　　要：利用D-H法建立坐标系、Matlab软件求解正逆方程和插值法处理关节变量来研究服务机器人手臂5个关节空间的轨迹规划问题,实验表明,这种轨迹规划方法是准确和可行的。通过对该方法分析,指出其实现轨迹规划的一般步骤和优缺点,最后展望该轨迹规划法的研究发展方向。The trajectory planning of 5 degrees of freedom for service robot arm using new D-H method is introduced it.The equations of positive are solved through Matlab software,nverse solution and interpolation to cope with the arthrosis variables is calculated as well.The result of experiment proves that this method is accurate and feasible.Based on the analysis of this method,the process of trajectory planning and the advantages and disadvantages is pointed out.Finally the direction of its development is discussed.

关 键 词：修改的D-H法 MATLAB 正逆解方程 机器人手臂 轨迹规划 

分 类 号：TH16[机械工程—机械制造及自动化]