基于关节空间工业机器人轨迹规划的研究与仿真  

Research and Simulation of Six-axis Industrial Robot Trajectory Planning Based on Robotics Toolbox

作　　者：刘子贵[1] 

机构地区：[1]江门职业技术学院,广东江门529090

出　　处：《机械工程与自动化》2017年第3期59-61,共3页Mechanical Engineering & Automation

基　　金：江门市科技局项目

摘　　要：利用Robotics Toolbox提供的轨迹规划函数,研究三次多项式、五次多项式等轨迹规划方法,在关节变量空间中仿真机器人运动轨迹,为国内工业机器人轨迹规划研究与实践提供一定的启示和借鉴作用。By use of the trajectory planning function provided by Robotics Toolbox, the planning methods of cubic polynomial and quintic polynomial were studied, and the motion trajectory of an industrial robot in joint variable space was simulated, to provide some inspiration and reference for the domestic industrial robot trajectory planning research and practice.

关 键 词：工业机器人 轨迹规划 关节变量 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]