基于MATLAB/SimMechanics模块六自由度串联机器人的运动分析与控制  

Kinematics Simulation and Trajectory Planning of 6-DOF Serial Robot Based on MATLAB/SimMechanics

作　　者：王国明[1] 

机构地区：[1]滨州学院机电工程系,山东滨州256603

出　　处：《滨州学院学报》2014年第3期89-93,共5页Journal of Binzhou University

基　　金：滨州学院科研基金项目(BZXYG1207)

摘　　要：以KR5ARC型机器人为研究对象,建立机器人杆件坐标系,获得相应的结构参数和运动参数;利用MATLAB/SimMechanics模块建立机器人的仿真模型,并进行了一定的运动学分析;设定机器人的运行轨迹,并在MATLAB环境下编程,通过MATLAB程序的循环求解,自行求得机器人各关节转动角度的最优解,并对机器人轨迹规划进行仿真。通过仿真模型末端的传感器模块和轨迹模块,获得末端执行器和各关节运动的各种数据,为工程人员控制分析机器人提供一种有效的手段。The KR5ARC robot is taken as the research object,the robot D-H coordinate is built and the structure parameters and the corresponding motion parameters are obtained.Robot simulation model is established by MATLAB/SimMechanics and some kinematics analysis is conducted.Then the robot trajectory is set and some program is compiled in the MATLAB environment.The optimal solution of each joint rotation angle is obtained by cycle solution of MATLAB program and trajectory planning simulation is made.Through the sensor module and terminal trajectory module,the data of the end-effectors and the joint are obtained and an effective means for engineering staff is provided.

关 键 词：SIMMECHANICS 机器人 轨迹规划 模块 循环 

分 类 号：TH112[机械工程—机械设计及理论]