一种新型板材安装机器人的空间直线轨迹规划  

Space linear trajectory planning for a new type of slabstone-installing robot

作　　者：樊旭[1] 杨冬[1] 张改萍[1] 李贺立 李铁军[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《现代制造工程》2017年第6期62-68,共7页Modern Manufacturing Engineering

基　　金：国家"十二五"科技支撑计划资助项目(2013BAF07B08)

摘　　要：针对自主研发的建筑板材安装机器人进行了空间直线轨迹规划的研究。对该机器人进行了运动学分析,并在关节空间中运用模拟CP控制方法配合五次多项式插值进行轨迹规划,从而保证了在运动控制中各关节运动的实时同步性和速度连续性。借助Matlab机器人工具箱和Labview编程软件进行了仿真与实验,完成了对机器人末端空间直线轨迹规划的任务。Based on the building slabstone-installing robot with independent development, related research was carried out about the space linear trajectory planning. The kinematics analysis was carried on the robot, and simulated CP control method with five times polynomial curve interpolation was used for the trajectory planning in the joint space, which ensures the real-time synchroni- zation and velocity continuity in the movement control of each joint. With the help of Matlab robot toolbox and Labview program- ming software, related simulation and experiments were done to complete the task of space linear trajectory planning on the end of the robot.

关 键 词：板材安装机器人 运动学分析 空间直线轨迹规划 五次多项式插值 

分 类 号：TU689[建筑科学—建筑技术科学]