上海航天2012，Vol.29Issue(6)：63-67,5.
空间6R机械臂圆弧轨迹规划及仿真
Study on 6-R Space-Robot Curve Track Programming and Simulation
吕燕 1安凯1
作者信息
- 1. 山东航天电子技术所,山东烟台264003
- 折叠
摘要
Abstract
To control 6R space-robot curve or prevent the 6-R robot to hit the barrier, the track programming of the curve in Cartesian coordinates was studied based on the programming of robot' round track in this paper. The end of the robotic arm was followed the round track strictly by using the position interpolation and attitude interpolation. The end track and tracks of joints were simulated. The results showed that the round tracks of the robotic arm end were smooth and the angles change of joints were gentle which presented the motion was stable.关键词
圆弧路径/轨迹规划/机器人Key words
Round track/Track-programming/Robot分类
信息技术与安全科学引用本文复制引用
吕燕,安凯..空间6R机械臂圆弧轨迹规划及仿真[J].上海航天,2012,29(6):63-67,5.
