基于六自由度工业机器人的D-H模型及仿真分析  

D-H Modeling and Simulation Analysis Based on Six Degree of Freedom Industrial Robot

作　　者：莫毅[1] MO Yi(Electronic and Electrical Engineering Department, Guangxi Institute of Industry Technology,Nanning Guangxi 530001, China)

机构地区：[1]广西工业职业技术学院电子与电气工程系,广西南宁530001

出　　处：《机床与液压》2017年第11期64-68,共5页Machine Tool & Hydraulics

基　　金：2015年度广西高校科学技术研究项目(桂工业院科研KY2015YB444);广西工业职业技术学院2014年度科学研究项目(桂工业院科研2014056007)

摘　　要：针对目前实验室已经开发完成的六自由度机器人,基于D-H模型建立机器人的运动学模型,在MATLAB环境下自行编制了对应的计算机数值计算程序,并进行了仿真模型分析,最后结合具体的机器人实例,对六自由度机器人标准姿态进行本体标定试验,并通过试验结果对比。结果表明:实验室机器人标定后的定位精度与实际精度非常接近,机器人的标准姿态的定位精度有大幅度提高。The six degree of freedom （6-DOF） industrial robot currently developed in the laboratory was focused on. The robot kinematics model was established based on D-H model, in MATLAB environment, computer numerical corresponding calculation pro-gram was self-prepared, and simulation analysis for the model was carried out. Finally combined with specific examples of the robot, the calibration tests of robot of 6-DOF standard body posture were done. By comparing the test results, the positioning accuracy of the robot after calibration in laboratory and the actual accuracy are very close, and the positioning accuracy of standard posture of the robot has greatly improved.

关 键 词：六自由度 工业机器人 D-H模型 本体标定 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]