轻工机械2013，Vol.31Issue(4)：11-14,4.DOI:10.3969/j.issn.1005-2895.2013.04.004
五自由度采摘机械臂关节空间轨迹规划
Trajectory Planning of 5-DOF Picking Manipulator in Joint Space
卢君宜 1熊晓松 1朱东2
作者信息
- 1. 武汉科技大学城市学院机电工程学部,湖北武汉430083
- 2. 武汉新能车桥技术发展有限公司,湖北武汉430074
- 折叠
摘要
Abstract
To ensure picking manipulator can accurately and quickly complete picking task,a cycloid trajectory planning in joint space was developed based on manipulator structure.This planning was obtained by establishing coordinate system with DH method,creating kinematic model and inverse kinematic solution through geometrical analysis,and also using Matlab tool to simulate the planning trajectory.The results show that the planning method is simple to calculate,and it makes the robot arm movement smooth,without vibration and overshoot phenomena,which meets its accurate and rapid requirements to complete picking task.关键词
采摘机械臂/五自由度/摆线运动/轨迹规划Key words
picking manipulator/ five-DOF/ cycloid movement / trajectory planning分类
信息技术与安全科学引用本文复制引用
卢君宜,熊晓松,朱东..五自由度采摘机械臂关节空间轨迹规划[J].轻工机械,2013,31(4):11-14,4.
