基于Matlab的QJ6R焊接机器人运动学分析及仿真

作者：程永伦，朱世强，罗利佳，刘松国 日期：2007-12-28/span> 浏览：4878 查看PDF文档

基于Matlab的QJ6R焊接机器人运动学分析及仿真
程永伦，朱世强，罗利佳，刘松国
(浙江大学 流体传动及控制国家重点实验室,浙江 杭州 310027)

摘 要：运用DH方法建立了QJ6R焊接机器人运动学方程，并讨论了其运动学问题。在Matlab环境下，绘出了机器人工作空间；用Robotics Toolbox对该机器人进行了仿真建模，并对正、逆运动学进行了实例仿真。通过仿真，分析了机器人的运动情况，得到了机器人在不同坐标空间的各种运动参数曲线和数据，验证了连杆参数设计的合理性和运动算法的正确性，为机器人动力学、控制和规划的研究提供了可靠的依据。
关键词：焊接机器人；运动学；仿真；Matlab

Kinematics analysis and simulation of QJ6R welding robot based on Matlab
CHENG Yonglun, ZHU Shiqiang, LUO Lijia, LIU Songguo
（State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China）

Abstract: The problem of the kinematics of QJ6R welding robot was discussed based on the kinematics equation, which was built by DH coordination system. The robot modeling and the forward, inverse kinematics examples were simulated with the Robotics Toolbox of Matlab program language. Based on the simulation, the motion of the robot was analyzed, the curvilinear figure and the data in different coordinate were obtained. The simulation proves that all the parameters are rational and the approach is right, also it is beneficial to the research of robot dynamics, control and planning.
Key words: welding robot; kinematics; simulation; Matlab

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