六自由度机械臂运动分析及轨迹规划

doi:10.16039/j.cnki.cn22-1249.2023.01.017

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摘要

针对韩国现代公司生产6R机械臂，以该机械臂为研究目标，通过改进后的D-H法建立模型，获取机器人的几何参数，最终提出一种有效的正逆运动算法。通过MATLAB软件进行模拟仿真，可以准确地验证正逆运动算法的有效性，并且详细描述了机械臂在关节空间中的轨迹规划，最后利用蒙特卡洛法得到机械臂各个反射角度的工作空间图。

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	陈大光
	刘兴德
	钱程

关键词: 6R机械臂正逆运动学 MATLAB 轨迹规划蒙特卡洛法

Abstract:

In this paper, the six degrees of freedom mechanical arm is produced by Hyundai Corporation of Korea. The model is established by improved D-H method, and the geometric parameters of the robot are obtained, finally, an effective forward and inverse motion algorithm is proposed. The forward and inverse kinematics can be accurately predicted by simulation with MATLAB software, and the trajectory planning of the manipulator in the joint space is described in detail, finally, the workspace of the manipulator is Monte Carlo method.

Key words: six degrees of freedom mechanical arm forward and inverse kinematics MATLAB trajectory planning monte carlo method

出版日期: 2023-01-25 发布日期: 2023-01-25 整期出版日期: 2023-01-25

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TP241

引用本文:

陈大光, 刘兴德 , 钱程 . 六自由度机械臂运动分析及轨迹规划 [J]. 吉林化工学院学报, 2023, 40(1): 80-86.
CHEN Daguang, LIU Xingde , QIAN Cheng . Motion Analysis and Trajectory Planning of 6-Dof Manipulator . Journal of Jilin Institute of Chemical Technology, 2023, 40(1): 80-86.

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http://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2023.01.017 或 http://xuebao.jlict.edu.cn/CN/Y2023/V40/I1/80

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