作　　者： (陆佳皓）; (平雪良）; (李朝阳）;

机构地区： 江南大学机械工程学院,江苏无锡214122

出　　处： 《机床与液压》 2017年第17期60-62,81,共4页

摘　　要： 在MATLAB环境下对关节工业机器人进行仿真分析。以ER3A-C60机器人为例,分析了它的正运动学、逆运动学和轨迹规划问题。利用Robotics toolbox和D-H参数建模方法,建立该机器人的运动学模型,进行该机器人轨迹规划的仿真,得到机器人关节角、角速度、角加速度随时间变化曲线,验证该机器人参数的合理性. Simulation analysis method is introduced in MATLAB based on revolute robot. Taken the ER3A-C60 robot as an exam- ple, the problems of forward kinematics, inverse kinematics and trajectory planning were analyzed. After the kinematic model estab- lished with the Robotics toolbox and D-H parameter method, the simulation of trajectory planning of the robot was conducted. The rela- i tion curves that angular displacement, angular velocity and angular aeceleratio vary with time were obtained, which verify the rationality of the robot＇s parameters.

关 键 词： 工业机器人 运动学 轨迹规划 仿真