一种六自由度工业机器人运动学分析及三维可视化仿真  

Kinematics Analysis of an 6-DOF Industrial Robot and Its 3D Visualization Simulation

作　　者：高艺[1] 马国庆[1] 于正林[1] 曹国华[1] 

机构地区：[1]长春理工大学,长春130022

出　　处：《中国机械工程》2016年第13期1726-1731,共6页China Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2013AA2400);吉林省科技发展计划资助项目(20100365);吉林省省级产业创新专项资金资助项目(2016C088)

摘　　要：针对Motoman-HP20机器人的构型特点,采用D-H坐标变换法建立其运动学坐标系,将机器人分解为位置结构和姿态结构,得到以位置矢量和欧拉角表示的完备广义坐标,利用位姿分离法对机器人进行逆运动学求解,求得各个关键转角。构建了三维可视化仿真环境,验证所提出的运动学算法的正确性。该仿真环境可以直观地观察机器人各部分的运动情况。For configurational characteristics of Motoman-HP20 robot, the D-H coordinate trans- formation method was adopted to establish the kinematics coordinate system, the robot was decom- posed into position structure and pose structure, complete generalized coordinates of position vector and Euler angle were obtained. Pose separation method was used to analyse the robot inverse kinemat- ics solution for critical angle. The 3D visual simulation environment was built, and the kinematics of the proposed algorithm was proved to be correct. The simulation platform of robot movement of each part could be observed visually.

关 键 词：工业机器人 运动学分析 可视化仿真 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]