【精选】弧焊机器人运动学分析及笛卡尔空间轨迹规划.pdf

Artificial Intelligence and Robotics Research 人工智能与机器人研究, 2013, 2, 54-59 /10.12677/airr.2013.21009 Published Online February 2013 (/journal/airr.html) Arc Welding Robot Kinematics Analysis and Trajectory Planning in Cartesian Space Tao Song School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing Email: songtao828@ Received: Jan. 14th th th , 2013; revised: Jan. 29 , 2013; accepted: Feb. 5 , 2013 Abstract: Arc welding robots, as typical 6-DOF serial robots, are gradually playing an important role in the automotive and other industries. In this paper, taking an independently designed arc welding robot as an example, demonstrated the establishment of D-H coordinate system, the robot kinematic analysis, and run a robot Cartesian space of linear and circular trajectory planning based on previous work. Employing a MFC application program, the derivatively generated data points are plotted in the Matlab to verify the correctness of the theoretical calculations. Keywords: Arc Welding Robot; Kinematics Analysis; Cartesian Space; Trajectory Planning 弧焊机器人运动学分析及笛卡尔空间轨迹规划 宋 涛 北京航空航天大学机械工程及自动化学院，北京 Email: songtao828@ 收稿日期：2013 年 1 月 14 日；修回日期：2013 年 1 月 29 日；录用日期：2013 年 2 月 5 日 摘 要：弧焊机器人作为一种典型的 6 自由度串联机器人，在汽车等行业中发挥着越来越重要的作用。本文以 一款自主研发的弧焊机器人为实例，建立 D-H 坐标系，进行机器人的运动学分析，并在此基础上完成机器人笛 卡尔空间的直线和圆弧轨迹规划。编写 MFC 应用程序，将生成的数据点在 Matlab 平台上进行绘图，验证理论 计算的正确性。 关键词：弧焊机器人；运动学分析；笛卡尔空间；轨迹规划 1. 引言 分析[3] 。然后在笛卡尔空间进行直线和圆弧的位置规 [4-6]