工业机器人运动学仿真分析  

Kinematics Simulation Analysis of Industrial Robot

作　　者：佟戬 TONG Jian(Department of Mechanical and Electrical Engineering,Anhui Automobile Vocational and Technical College,Hefei 230601,China)

机构地区：[1]安徽汽车职业技术学院机电工程系,合肥230601

出　　处：《成都工业学院学报》2023年第1期6-9,共4页Journal of Chengdu Technological University

基　　金：安徽省质量工程项目(2021jyxm0434)。

摘　　要：运动学分析是实施工业机器人作业控制的关键。采用D-H法对IRB 120工业机器人建模,建立了工业机器人的正运动学方程,并采用Robot Studio软件验证了正运动学方程的正确性。在此基础上,通过代数解法求得机器人关节角度,获得工业机器人运动学逆解,并采用Robotics Toolbox平台验证IRB 120机器人运动学逆解的正确性,这对IRB 120工业机器人的控制具有一定的参考价值。The wide application of industrial robots improves the production quality and efficiency of products. Kinematics analysis is the key to implement the operation control of industrial robots. D-H method was used to model the IRB 120 industrial robot, and the forward kinematics equation of industrial robot was established, and the correctness of the forward kinematics equation was verified by Robot Studio software. On this basis, the robot joint angle was obtained through algebraic solution, and the inverse kinematics solution of industrial robot was obtained. The correctness of the inverse kinematics solution of IRB 120 robot was verified by using Robotics Toolbox platform, which has a certain reference value for the control of IRB 120 industrial robot.

关 键 词：工业机器人 运动学方程 正运动学 运动学逆解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]