机械与电子2016，Vol.34Issue(6)：72-75,4.
Dobot 机械臂建模仿真与轨迹规划算法研究
Research on Modeling and Simulation,and Trajectory Planning Algorithms for Dobot Manipulators
摘要
Abstract
The paper aims to study DH modeling ,kinematics analyses ,trajectory planning algo‐rithms ,and simulation of Dobot manipulators in the MATLAB environment .In MATLAB Robotics Tool‐box environment and on the basis of the DH parameters ,the Dobot manipulator model is established to calculate the homogeneous transformation matrix of the mechanic arm .The simulation toolkit is utilized for forward and inverse kinematics simulation and motion simulation in the research on the trajectory plan‐ning control .Displacement ,velocity ,acceleration and the end track of each joint of the mechanic arm un‐der the action of the trajectory planning algorithm are obtained by a simulation analysis .The simulation re‐sults indicate that the research method has practical significance for the research on manipulator motion control and provides a reference for research on control and optimization algorithm of Dobot manipulators .关键词
Dobot/MATLAB/DH建模/轨迹规划Key words
Dobot/MATLAB/D H modeling/trajectory planning分类
机械制造引用本文复制引用
孙军,张家亮,马玲..Dobot 机械臂建模仿真与轨迹规划算法研究[J].机械与电子,2016,34(6):72-75,4.基金项目
辽宁省自然科学基金（2013020035）；辽宁省科技计划项目 （）
