基于MATLAB的6自由度工业机器人动力学分析
Dynamic Analysis of 6DOF Industrial Robot Based on MATLAB
黄颖 1李琼 1冯琛1
作者信息
- 1. 陕西机电职业技术学院,陕西 宝鸡 72100
- 折叠
摘要
为研究 6 自由度工业机器人的控制问题,需要对其动力学进行分析.利用D-H 法对机器人进行运动学建模,运用基于运动学模型的牛顿-欧拉法,对机器人各关节驱动力矩进行推算,最后根据已知信息和条件,在MATLAB中进行编程计算和仿真实例分析.通过对机器人动力学的分析研究,总结进一步的研究方向,同时为研究机器人的控制系统奠定基础.
Abstract
In order to study the control system of the 6 DOF industrial robot,its dynamic problem needs to be analyzed.According to method of D-H,the kinematics modelling of robot is carried out.Newton-Euler approach based on kinematics model is used to calculate the driving torque of each joint of robot.Finally,based on the giv-en information and conditions,programming and simulation is completed in MATLAB.Through the analysis and research of robot dynamics,the further research direction is summarized,and the foundation is laid for the re-search of robot control system.
关键词
6自由度工业机器人/动力学/驱动力矩/仿真Key words
6 DOF industrial robot/Dynamic/Driving torque/Simulation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据