| 机器人离线轨迹规划的图形仿真的研究 |
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| 引用本文： | 丁汉,陈家新,熊有伦.机器人离线轨迹规划的图形仿真的研究[J].华中科技大学学报(自然科学版),1988(Z1). |
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| 作者姓名： | 丁汉 陈家新 熊有伦 |
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| 作者单位： | 华中理工大学机械工程一系
(丁汉，陈家新)，华中理工大学机械工程一系(熊有伦) |
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| 摘 要： | 本文研究在IBM-PC微机上进行机器人离线轨迹规划的图形仿真系统。该系统可用于机器人运动学,动力学和轨迹规划的分析,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有动态效果,基于MINIMAX准则,我们提出了一种用于轨迹规划的动力学性能指标。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。文中给出了PUMA560和STANFORD机械手的仿真结果。
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| 关 键 词： | 机器人 图形仿真 轨迹规划 性能指标 离线 |
A Study on Graphic Simulation for Off-Line Trajectory Planning of Manipulators |
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| Ding Han Chen Jiaxin Xiong Youlun.A Study on Graphic Simulation for Off-Line Trajectory Planning of Manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1988(Z1). |
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| Authors: | Ding Han Chen Jiaxin Xiong Youlun |
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| Institution: | Ding Han Chen Jiaxin Xiong Youlun |
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| Abstract: | The graphic simulation system for off-line trajectory planning of manipulators on IBM-PC is investigated. The system can be used to study the kinematics, dynamics and trajectory planning of the manipulators. A three dimensional geometric model for a manipulator and its environment consisting of generalized bodies can be generated. The system works under an interactive code. The movement of the links of manipulator exhibits dynamic effect on CRT of microcomputers. Based on the MINIMAX principle, a dynamic performance index for trajectory planning is proposed. The path planning carried out by this index will give a minimum joint driving torque. Simulation results for PUMA 560 and STANFORD manipulator are given. |
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| Keywords: | Robot Graphic simulation Trajectory planning Performance index Off-line |
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