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国内文献对机器人运动学模型的论述中,鲜有提及MDH模型。详细介绍了用于旋转关节的MDH模型,并以新型混联码垛机器人为例,通过参考坐标系单独求解与齐次变换法求解相结合的方式,推导了机器人的正、逆运动学方程;采用“5-3-5”轨迹规划法,运用MATLAB编写了轨迹规划程序,并在LMS Virtual.lab Motion中完成了轨迹规划的运动学仿真;通过对比分析仿真结果与理论计算值,验证了理论推导的正确性。为建立机器人运动学误差模型提供了理论依据,弥补了国内对MDH模型论述的不足。
Domestic literature on the kinematics model of the robot discussion, rarely mentioned MDH model. The MDH model for rotating joints is introduced in detail. Taking the new type of hybrid palletizing robot as an example, the positive and inverse kinematics equations of the robot are deduced by combining the solver and the homogeneous transformation method. Using “5-3-5 ” trajectory planning method, trajectory planning program was written by MATLAB and kinematics simulation of trajectory planning was completed in LMS Virtual.lab Motion. By comparing the simulation results with the theoretical calculation, The correctness of the theoretical derivation. It provides a theoretical basis for establishing a model of robot kinematics error and makes up for the shortage of MDH model in China.