医疗卫生装备2018，Vol.39Issue(1)：5-10,6.DOI:10.7687/j.issn1003-8868.2018.01.005
串联机器人运动学分析及轨迹规划
Kinematic analysis and trajectory planning of serial robot
摘要
Abstract
Objective To select a safe, flexible and lightweight manipulator and to execute its kinematic analysis and trajectory planning, so as to improve the application of serial robot in the treatment of hazardous biochemical products. Methods The kinematic modeling was carried out for the manipulator, and the kinematic and inverse kinematic formulas were deduced and verified.Differential transform method was used to obtain the Jacobian matrix of the manipulator,and the trajectory planning was implemented for the manipulator at joint and cartesian spaces.Results An ideal motion curve was formed by the trajectory planning of serial robot to realize its stable and high-efficiency motion at spaces.Conclusion Serial robot is facilitated to execute the treatment of hazardous biochemical products, and references are provided to other researches on serial robot.关键词
串联机器人/运动学分析/雅可比矩阵/轨迹规划Key words
serial robot/kinematic analysis/Jacobi matrix/trajectory planning分类
医药卫生引用本文复制引用
陈卓,苏卫华,李彬,秦晓丽..串联机器人运动学分析及轨迹规划[J].医疗卫生装备,2018,39(1):5-10,6.基金项目
国家科技重大专项(2017ZX10304403) （2017ZX10304403）
