机械制造与自动化Issue(3)：162-164,226,4.
motoman up50机器人的轨迹规划及仿真研究
Research on Trajectory Planning and Simulation of Motorman up50 Robot
刘鹏 1张永贵 1刘晨荣 1郭微微 1李立伟 1王彬1
作者信息
- 1. 兰州理工大学 机电工程学院，甘肃 兰州730050
- 折叠
摘要
Abstract
ln the MATLAB environment, taking motoman up50 robot as the research object, a 3-D model of the robot is established with Robotics Toolbox. On the basis of the forward and inverse kinematic analysis, the simulation research on trajectory planning is carried out. The experiment shows that smooth joint angular velocity and angular acceleration curves are obtained by adopting hepta-polynomial, which ensures the operation accuracy of the robot. Al this is of significance for teaching and research work on moto-man up50 robot and the trajectory planning.关键词
motoman up50机器人/轨迹规划/仿真Key words
motoman up50 robot/trajectory planning/simulation分类
计算机与自动化引用本文复制引用
刘鹏,张永贵,刘晨荣,郭微微,李立伟,王彬..motoman up50机器人的轨迹规划及仿真研究[J].机械制造与自动化,2016,(3):162-164,226,4.
