机械制造与自动化Issue(6)：166-168,177,4.
多自由度机器人的运动学仿真的研究
Research on Kinematics Simulation of Robot with Multiple Degrees of Freedom
江伟伟1
作者信息
- 1. 南京理工大学 机械工程学院，江苏 南京210094
- 折叠
摘要
Abstract
In order to study the movement of the robot with multiple degrees of freedom, this paper discusses the robot kinematics problem, applies the Robotics Toolbox tool of MATLAB to the analysis of the robot’s forward and inverse movement and its trajecto-ry planning. Then the robot motion data in MATLAB, plotted as the spline curve, is imported to ADAMS for simulation. From the sim-ulation, every movement of the robot can be observed intuitively. The experimental results show that the motion speed and the accel-eration of al joints obtained from ADAMS are coincided with those in MATLAB, so that the goal is achieved,that the observation and control of the robot’ s trajectory, and its united simulation are realized by utilizing MATLAB and ADAMS. This provides a better meth-od for the further dynamic analysis of the robot.关键词
多自由度机器人/运动学/轨迹分析/联合仿真Key words
robot with multiple degrees of freedom/kinematics/trajectory analysis/united simulation分类
信息技术与安全科学引用本文复制引用
江伟伟..多自由度机器人的运动学仿真的研究[J].机械制造与自动化,2014,(6):166-168,177,4.
