6R型串联机器人工作空间快速求解方法  

Rapid solving method for 6R serial-type robot working space

作　　者：许卫斌 平雪良 应再恩 杜永忠 李正洋 

机构地区：[1]江南大学机械工程学院,江苏无锡214122

出　　处：《机械设计》2013年第6期28-31,共4页Journal of Machine Design

基　　金：江苏省科技支撑计划资助项目(BE2011098)

摘　　要：针对机器人工作空间求解特点,提出了一种基于Matlab中SimMechanics模型并结合蒙特卡洛法的机器人工作空间求解方法。最后与数值法作了实验对比,证明该方法在求解速度上有很大的优势,并且克服了传统方法中对机器人运动学正、反解的依赖。The solution of the robot workspace is a very critical issue in the robotics research. According to the robot workspace solution characteristics, a method that based on the SimMechanies model in Matlab and the Monte-Carlo method was put forward to solve the robot workspace, Finally, by comparison with the traditional numerical methods, this method has better speed in solving workspace, and avoids positive and inverse kinematics solutions.

关 键 词：工作空间 MATLAB 蒙特卡洛 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]