张勤, 吴志斌, 神谷好承. 基于重复变换法的多关节站立型机器人搬运动作仿真[J]. 机器人, 2011, 33(3): 340-346.
引用本文: 张勤, 吴志斌, 神谷好承. 基于重复变换法的多关节站立型机器人搬运动作仿真[J]. 机器人, 2011, 33(3): 340-346.
ZHANG Qin, WU Zhibin, KAMIYA Yoshitsugu. Handling Motion Simulation for Multi-joint Stance Robot Based on Repeatedly Direct Kinematics Algorithm[J]. ROBOT, 2011, 33(3): 340-346.
Citation: ZHANG Qin, WU Zhibin, KAMIYA Yoshitsugu. Handling Motion Simulation for Multi-joint Stance Robot Based on Repeatedly Direct Kinematics Algorithm[J]. ROBOT, 2011, 33(3): 340-346.

基于重复变换法的多关节站立型机器人搬运动作仿真

Handling Motion Simulation for Multi-joint Stance Robot Based on Repeatedly Direct Kinematics Algorithm

  • 摘要: 以5关节站立型机器人为研究对象,基于重复变换法提出了多关节机器人动作生成的方法.并以日常生活常见的搬运动作为例,对其搬运动作的过程进行了仿真,生成了机器人搬运过程中既不翻倒,又使其各个关节所受的负载扭矩最小的搬运轨迹.讨论了站立型多关节机器人搬运动作过程中的稳定性.

     

    Abstract: Taking a five-joint stance robot as research subject,a motion generation method based on repeatedly direct kinematics(RDK)algorithm is proposed for multi-joint robots.The handhng motion in daily life is investigated to simulate its handling motion process.Then the desired handling trajectory with which the robot doesn't turn over and all joints suffer the smallest load torque is generated.Finally,the stability of multi-joint stance robot in handling motion is discussed.

     

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