一种基于逆向运动学分析的物料抓取机器人自导航系统  

Research on self-navigation system of material grabbing robot based on the inverse kinematics analysis

作　　者：李峰[1] 张雪松[1] 岳云 张忠美 

机构地区：[1]中原工学院信息商务学院机械工程系,河南郑州450007 [2]CATERPILLAR(郑州)有限公司,河南郑州450007 [3]河南汇金智能装备有限公司,河南郑州450001

出　　处：《食品与机械》2016年第5期81-85,97,共6页Food and Machinery

基　　金：河南省科技攻关计划项目(编号:122102210506);河南省教育厅重点科研项目(编号:15A460042)

摘　　要：为了能够实现机器人的自导航,以食品物料抓取机器人为平台,以D-H方法逆运动学求解为基础,对机器人进行导航定位分析,得到了机器人导航定位解。通过机器人硬件和软件的结合,以STL语句表形式描述机器人的自动导航控制原理,实现了机器人的定位解算;将导航系统应用于实际生产,验证了物料抓取机器人导航系统的高效性和稳定性,能够很好地适用于生产线的物料抓取。In order to achieve robot self-navigation,based on the inverse kinematics solution of D-H method,the navigation analysis of food material grabbing robot is carried out and the robot navigation positioning solutions were obtained.Through the combination of hardware and software of the robot,the automatic navigation control principle of the robot is described in the form of STL statement,realizing the robot positioning calculation.The efficiency and stability of robot navigation system are verified by practical production,which proves that it was well suited to food material grabbing production line.

关 键 词：机器人 逆向运动学 导航 控制 

分 类 号：TS203[轻工技术与工程—食品科学]