基于MATLAB和的双机械臂协调轨迹规划与协调控制  

Dual Manipulator Coordinated Trajectory Planning and Coordination Control Based on MATLAB

作　　者：刘靖 丁祎 刘海娜 宋欣钢 Liu Jing;Ding Yi;Liu Hai-na;Song Xin-gang(Huanghe Jiaotong University,Henan Jiaozuo 94950)

机构地区：[1]黄河交通学院,河南焦作454950

出　　处：《内燃机与配件》2023年第4期58-60,共3页Internal Combustion Engine & Parts

摘　　要：机械臂在工作过程中自动化,除了增加实际治疗的精确度,基于改进的D-H方法的结果是先验类型,并且解决了雅可比。Matlab的数学计算和ADAMS的明显相似性允许实现分压过程,并确认运动学理论模型。这项研究不仅为自我发展精确的位置提供了手册,以及分析机械臂力量的建议。The robotic arm automates the work process, in addition to increasing the accuracy of the actual treatment, the results based on the improved D-H method are a priori type, and the Jacobi is addressed. The obvious similarity between Matlab’s mathematical calculations and ADAMS’s allows the partial pressure process to be realized and the kinematic theoretical model to be confirmed. The study not only provides amanual for self-development of precise positions, but also recommendations for analyzing the strength of robotic arms.

关 键 词：机械臂 运动学正解 MATLAB 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]