关节型机器人通用仿真平台设计  

Design of General Joint-Robot Simulator

作　　者：苏豪 薛方正[1] 

机构地区：[1]重庆大学自动化学院,重庆400044

出　　处：《重庆理工大学学报（自然科学）》2012年第6期82-88,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(60905053)

摘　　要：为了方便地对关节型机器人进行结构验证、动作规划以及工作空间分析,提出了一种基于机器人混合模型的通用仿真平台设计方案。混合模型结合了机器人的D-H模型、图结构模型和ODE模型,以杆件的D-H参数作为平台人机交互接口。为克服D-H参数在描述树形或含闭链结构机器人上的歧义性问题,D-H模型被转化为图结构模型,利用图结构中顶点之间关系的任意性对机器人进行描述,最后遍历图结构模型并通过ODE引擎来完成仿真。在VS平台下实现了一个基于本方案的仿真平台,对2种不同类型的机器人进行了动作规划实验,验证了所提方案的有效性。In order to joint-robot conveni model is mixed by ent, D-H make structure verification, action planning and analysis work space about a hybrid model based design solution of joint-robot is presented. The hybrid model, graph model and ODE（Open Dynamic Engine） model. D-H parame- ters about links are used to be human-computer interfaces, to avoid ambiguity when D-H parameters are used for tree structure and closed-chains robots. D-H model is transformed to graph model to de- scribe the robot by the characteristic of arbitrariness of the connections between vertices, and finally traverse the graph and complete the simulation with ODE. A robot simulation platform based on pro- posed method is designed and realized with VS, and two simulation experiments about different robots are given. The experiment results prove the effectiveness of the presented methods.

关 键 词：关节型机器人 通用仿真平台 D-H参数 图结构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]