基于MATLAB的工业机器人运动学分析与仿真  

Kinematics Analysis and Simulation of Industrial Robot Based on MATLAB

作　　者：李小伟 高清冉[1] LI Xiao-wei;GAO Qing-ran(Department of Mechanical and Electrical Engineering,Jiyuan Vocational and Technical College,Jiyuan 459000,China)

机构地区：[1]济源职业技术学院机电工程系,济源459000

出　　处：《内燃机与配件》2022年第2期233-237,共5页Internal Combustion Engine & Parts

摘　　要：在工业机器人应用控制中,以华数HSR-JR605型机器人为研究对象,在探讨机器人工作空间、坐标系和连杆参数的基础上,采用D-H矩阵坐标法,结合计算机技术,利用Matlab和机器人工具箱Matlab Toolbox V9.10两个软件建立机器人运动学模型,进行正、逆运动学仿真和轨迹规划,仿真结果验证了HSR-JR605型机器人运动学模型的正确性和合理性,为后续机器人的研发工作做好理论铺垫。In the application control of industrial robot,taking HSR-JR605 robot as the research object,on the basis of discussing the robot workspace,coordinate system and connecting rod parameters,the D-H matrix coordinate method is adopted,combined with computer technology,and the robot toolbox in MATLAB software is used to establish the robot kinematics model for forward and inverse kinematics simulation and trajectory planning,The simulation results verify the correctness and rationality of the kinematics model of hsr-jr605 robot,and pave the way for the follow-up robot research and development.

关 键 词：HSR-JR605 D-H矩阵坐标法 运动学仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]