基于CoppeliaSim的UR5机器人建模与运动学分析  

Modeling and Kinematic Analysis of UR5 Robot Based on CoppeliaSim

作　　者：朱玉权 张世超 蔡武 ZHU Yuquan;ZHANG Shichao;CAI Wu(The 723 Institute of CSSC,Yangzhou 225101,China)

机构地区：[1]中国船舶集团有限公司第七二三研究所,江苏扬州225101

出　　处：《舰船电子对抗》2024年第5期90-94,共5页Shipboard Electronic Countermeasure

摘　　要：以FANUC-M10I机器人作为研究对象,用三维软件创建机器人模型导入CoppeliaSim平台组建6自由度机器人运动学模型,并在CoppeliaSim中采用基于关节和连杆协同坐标系的建模方法,建立与刀轨文件一致的机器人及其加工环境的三维模型,推导出其正确的运动学公式。结果表明该方法能够生成正确的机器人关节运动参数。Taking FANUC-M10I robot as the research object,a robot model is created by using 3D software and imported into CoppeliaSim platform,thereby a 6-degree-of-freedom robot kinematic model is constructed.In CoppeliaSim,a modeling method based on joint and linkage coordinated coordinate system is adopted to establish a 3D model of the robot and its processing environment consistent with the tool path document,and its correct kinematics formula is derived.The results indicate that this method can generate correct motion parameters of robot joints.

关 键 词：结构件 FANUC-M10I机器人 运动学模型 正逆运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]