标题:
弧焊机器人运动学分析及笛卡尔空间轨迹规划Arc Welding Robot Kinematics Analysis and Trajectory Planning in Cartesian Space
作者:
宋涛
关键字:
弧焊机器人, 运动学分析, 笛卡尔空间, 轨迹规划Arc Welding Robot; Kinematics Analysis; Cartesian Space; Trajectory Planning
期刊名称:
《Artificial Intelligence and Robotics Research》, Vol.2 No.1, 2013-02-16
摘要:
弧焊机器人作为一种典型的6自由度串联机器人，在汽车等行业中发挥着越来越重要的作用。本文以一款自主研发的弧焊机器人为实例，建立D-H坐标系，进行机器人的运动学分析，并在此基础上完成机器人笛卡尔空间的直线和圆弧轨迹规划。编写MFC应用程序，将生成的数据点在Matlab平台上进行绘图，验证理论计算的正确性。Arc welding robots, as typical 6-DOF serial robots, are gradually playing an important role in the automotive and other industries. In this paper, taking an independently designed arc welding robot as an example, demonstrated the establishment of D-H coordinate system, the robot kinematic analysis, and run a robot Cartesian space of linear and circular trajectory planning based on previous work. Employing a MFC application program, the derivatively generated data points are plotted in the Matlab to verify the correctness of the theoretical calculations.