服务机器人手臂轨迹规划的研究.pdf

机械设计与制造
第 2 期
144 Machinery Design & Manufacture 2011 年 2 月
: ( )
文章编号 1001-3997 2011 02-0144-03
服务机器人手臂轨迹规划的研究*
徐新虎李桂琴王燕金国军
( ,上海)
上海大学上海市机械自动化与机器人重点实验室 200072
Research on the method of trajectory planning for a service robot arm
, , ,
XU Xin-hu LI Gui-qin WANG Yan JIN Guo-jun
( , , , )
School of Mechanical & Electrical Engineering and Automation Shanghai University Shanghai 200072 China


【摘要】利用 D-H 法建立坐标系、Matlab 软件求解正逆方程和插值法处理关节变量来研究服务


机器人手臂个关节空间的轨迹规划问题,实验表明,这种轨迹规划方法是准确和可行的通过对该方

5 。

法分析,指出其实现轨迹规划的一般步骤和优缺点,最后展望该轨迹规划法的研究发展方向。

关键词:修改的法; ;正逆解方程;机器人手臂;轨迹规划

D-H Matlab

【Abstract】The trajectory planning of 5 degrees of freedom for service robot arm using new D -H

,

method is introduced equations of positive are solved through Matlab software nverse solution and in-

terpolation to cope with the arthrosis variables is calculated as result of experiment proves that this

,
method is accurate and on the analysis of this method the process of trajectory planning and



the advantages and disadvantages is pointed out. Finally the direction of its development is discussed.

: ; ; ; ;
Key words New D-H method Matlab The equations of positive and inverse Robotic arm Tra-