摘要
为了解决机器人运动学方程中的角度耦合问题,采用D-H方法建立了机器人的正运动学方程的数学模型,以PUMA560为研究对象求解,用ADAMS软件进行了仿真,其仿真结果与正运动学方程求解结果相近,验证了正运动学方程数学模型的正确性。在此基础上,采用解析法推导了焊接机器人逆运动学方程。此方法在整个推导过程中仅使用了逆矩阵相乘,解除了角度之间的耦合,推导出了各角的求解公式。此方法可为焊接机器人轨迹规划奠定基础。
In order to solve the robot kinematics equation for the angle coupling problem, this paper establishes the robot forward ki- nematics equation mathematical model, takes PUMA560 as the object of study and uses ADAMS software for simulating it. The simu- lation result is similar to one of solving the forward kinematics equation, verifies the correctness of its mathematical model. On this basis, welding robot inverse kinematics equation is deduced by the analytical method. The inverse matrix multiplication is only used in the derivation in this system to remove the coupling between angles and deduce the formulas of each angle. The foundation is laid for the welding robot trajectory planning.
出处
《机械制造与自动化》
2014年第5期146-149,166,共5页
Machine Building & Automation
