摘要
一位新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的研究发现被用在一份新的报告中。根据NewsRx记者在南京的新闻报道，研究表明：“针对双臂机器人工程应用中运动协调的挑战，设计了一套综合规划方法。”本文以两个六自由度工业机器人组成的双臂系统为研究对象，首先建立了工件坐标系与其它各坐标系之间特征轨迹的转换模型，并对其进行了仿真计算。在此基础上,分析了机器人两臂间的闭链运动关系,提出了一种基于参考坐标系的位置标定方法,最后分析了双臂机器人协同运动的约束条件。"从而建立了运动协作规划方法."
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Research findings on robotics are disc ussed in a new report. According to news reporting from Nanjing, People's Republ ic of China, by NewsRx journalists, research stated, "Aiming to address challeng es in the motion coordination of dual-arm robot engineering applications, a comp rehensive set of planning methods is devised." The news correspondents obtained a quote from the research from Nanjing Universi ty of Aeronautics and Astronautics: "This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the research object. Initial ly, a transformation model is established for the characteristic trajectories be tween the workpiece coordinate system and various other coordinate systems. Subs equently, the position and orientation curves of the working trajectory are disc retized to facilitate the controller's execution. Furthermore, an analysis is co nducted of the closed-chain kinematics relationship between two arms of the robo t and a pose-calibration method based on a reference coordinate system is introd uced. Finally, constraints to the collaborative motion of the dual-arm robot are analyzed, leading to the establishment of a motion collaboration planning metho dology."
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