文档介绍：六自由度机械臂运动学分析与仿真
相里燕妮 杨小军
（中国科学院西安光学精密机械研究所）
摘要：针对安川弧焊工业机器人手臂MOTOMAN-MA1400的构型特点，采用D-H法建立了机械臂的连杆坐标系，得到了以关节角度为变量的正运动学方程，利用MATLAB进行正逆运动学计算以及机械臂末端点的轨迹规划。为了验证正逆运动学模型的正确性及直观地观察机械臂各部分运动情况，采用Pro-E建立了机械臂的三维实体模型。将角度变量值导入模型，开发了机械臂运动仿真平台。仿真结果与理论计算一致，从而验证了算法的正确性，并完成了机械臂的运动仿真，为机械臂末端位置的激光标定实验提供了理论参考。
关键词：机械臂 运动学 仿真
中图分类号：TN11 文献标识码：A
Kinematics analysis and simulation of a six DOF manipulator
XIANGLI Yan-ni YANG Xiao-jun
(Xi'an Institute of Optics and Precision Mechanics of CAS, Xi'an 710119, China)
Abstract:Considering the configuration characteristics of MOTOMAN-MA1400 industrial manipulator, D-H method was used to establish connecting link coordinate system, obtaining forward kinematics equations with joint angle variables. The forward and inverse kinematics and In order to verify the correctness of the forward and inverse kinematics and visualize the manipulator movement, the manipulator 3D physical model was builded in Pro-E. Angular variables were input in the model and the simulation platform of manipulator was developed. Simulation results were consistent with theoretical calculations. The correctness of the algorithm was verified and the manipulator movement simulation was completed based on the platform, which can provide a theoretical reference for the manipulator extremity coordinates in laser calibration experiments.
Keywords: manipulator kinematics simulation