本文是在pr1400焊接机器人的基础上进行研究的,对其整体结构和运动学过程及轨迹进行了分析并采用标准d-h建立坐标系.同时利用matlab机器人工具箱建立运动模型和运动仿真,得到光滑的角加速度、关节角位移、角速度的变化曲线及运动末端轨迹曲线.更重要的是仿真模拟可以使研究人员避免一些计算错误,提高机器人轨迹规划的可靠性.%This paper is based on pr1400 welding robot. The whole structure and kinematics process and trajectory are analyzed and the coordinate system is established by standard d-h. At the same time, the matlab robot toolbox is used to establish the motion model and motion simulation, and the smooth curve and end-of-track curve of angular acceleration, joint angular displacement and angular velocity are obtained. More importantly, simulation can help researchers avoid some computational errors and improve the reliability of robot trajectory planning.
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