机器人最佳轨迹规划和图形仿真的研究

A STUDY ON OPTIMAL TRAJECTORY PLANNING AND GRAPHIC SIMULATION OF ROBOT MANIPULATORS

摘要: 本文介绍了基于IBM-PC微机的机器人轨迹规划的图形仿真系统．该系统可用于机器人运动学分析和最佳轨迹规划，并能产生机械手和广义物体组成的环境物的三维几何模型．系统以交互方式工作．在微机的CRT上，机械手连杆的运动具存动态效果．基于MINIMAX准则，我们提出了一种动力学性能指标用于轨迹规划．根据该指标所进行的轨迹规划可以获得最小的关节驱动力矩．最后，文中给出了PUMA560机械手的仿真结果．

Abstract: This paper describes a graphic simulation system of trajectory planning of robot,manipulators on IBM-PC.This system can be to analyze kinematics and optimum trajectory planning of robots.A three dimensional geometrie model of a manipulator and its envirinment consistion of generalized,bodies can begenerated.The system simulates under interactive code.The movement of link of manipulator has dynamiceffect on CRT of a microcomputer.Based on the MINIMAX principle,we present dynamic performanccindex for trajectory planning.Path planning carried out by this index will be made into minimum.joint driving torques.At last,simulation results of a PUMA 560 manipulator are given.