motoman up50机器人的轨迹规划及仿真研究  

Research on Trajectory Planning and Simulation of Motorman up50 Robot

作　　者：刘鹏[1] 张永贵[1] 刘晨荣 郭微微[1] 李立伟[1] 王彬[1] 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械制造与自动化》2016年第3期162-164,226,共4页Machine Building & Automation

摘　　要：以motoman up50机器人为研究对象,在MATLAB环境下,利用Robotics Toolbox工具箱对motoman up50机器人进行了三维建模。在其正、逆运动学分析的基础上对轨迹规划的问题进行仿真研究,仿真实验结果显示采用七次多项式进行关节轨迹规划时可以得到平滑的关节角速度、角加速度曲线,保证了机器人的作业精度,对motoman up50机器人的教学及轨迹规划的研究具有重要的意义。In the MATLAB environment, taking motoman up50 robot as the research object, a 3-D model of the robot is established with Robotics Toolbox. On the basis of the forward and inverse kinematic analysis, the simulation research on trajectory planning is carried out. The experiment shows that smooth joint angular velocity and angular acceleration curves are obtained by adopting hepta -polynomial, which ensures the operation accuracy of the robot. All this is of significance for teaching and research work on moto- man up50 robot and the trajectory planning.

关 键 词：MOTOMAN up50机器人 轨迹规划 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]