中北大学学报（自然科学版）2016，Vol.37Issue(5)：522-529,8.DOI:10.3969/j.issn.1673-3193.2016.05.016
串联机器人运动学分析与研究
Kinematic Analysis and Research of Serial Robot
摘要
Abstract
In order to display the optimization condition of robot path planning visually,D-H rule was a-dopted to establish the link coordinate frame and link parameters,then the forward kinematics equation can be derived and the closed-form solution of inverse kinematics equation can be realized.In addition, by conducting 3D graphical simulation for the kinematics inverse and forward solutions using LabWin-dows/CVI programming software,the accuracy and real-time performance of positive and athwart kine-matics were verified,and thus the angle,angular velocity,and posture of each j oint axis movement can be real-time displayed.The simulation results show that peripheral location error is less than 6 × 10-5 mm.To verify the feasibility of simulation results,the path planning points produced in simulation were input into Googol GRB 3016 articulated robot with 6 degrees of freedom for pilot run,indicating that the simulation results are consistent with practicle computational results.关键词
串联机器人/运动学/三维仿真Key words
serial robot/kinematics/three-dimensional stimulation分类
信息技术与安全科学引用本文复制引用
周承仙,富巍..串联机器人运动学分析与研究[J].中北大学学报（自然科学版）,2016,37(5):522-529,8.基金项目
福建省自然科学基金资助项目(2014J01254) （2014J01254）
福建省教育厅 A 类项目(JA14232) （JA14232）
福建省科技计划重大重点项目(2014H0048) （2014H0048）
