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| 基于ADAMS与MATLAB的6R机器人运动学分析与轨迹规划联合仿真 |
| Joint Simulation of Kinematics Analysis and Trajectory Planning of 6R Robot Based on ADAMS and MATLAB |
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| DOI：10.16018/j.cnki.cn32-1650/n.202204012 |
| 中文关键词: 6R机器人 运动学 轨迹规划 联合仿真 |
| 英文关键词: 6R robot kinematics trajectory planning the joint simulation |
| 基金项目: |
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| 中文摘要: |
| 针对6自由度工业机器人的运动学与轨迹规划问题，采用ADAMS与MATLAB进行联合仿真。通过改进的D-H参数表建立机器人的运动学模型，根据齐次坐标变换推导出机器人的运动学方程，使用MATLAB/Robotic Toolbox对运动学方程进行验证；最后通过ADAMS与MATLAB联合仿真技术验证了运动学模型的正确性。 |
| 英文摘要: |
| Aiming at the kinematics and trajectory planning of 6 DOF industrial robot, ADAMS and MATLAB were used for joint simulation. The kinematics model of the robot was established through the improved D-H parameter table, and the kinematics equation of the robot was derived according to the homogeneous coordinate transformation. The kinematics equation was verified by MATLAB/Robotic Toolbox. Finally, ADAMS and MATLAB co-simulation technology was used to verify the correctness of the kinematic model. |
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