文档介绍：201& No, 2
氓哩机械
61
工业机器人运动学与轨迹规划仿真
唐新星，王平，范欠川
(.长春工业大学机电工程学院，吉林 长春1対们2)
摘 要:为保证工业机器人在作业过禅中平棉雄续运行’运用solid%品建立r六自由度工业英 节型机器人-*建立其运动学模刑*釆用五次塞项式插値算法，在人山 连续平龄的曲线，「
关键词；；运动仿真
中图分类号：TP劄 立献标识陷：A 文章编号:1001 -196X(2018)02 -006J -05
Simulation ofkinematics iand- .^trajectory planning「for〔in dustrial robot
RANG Xin-Kingt Vt Ping. KAN L)a-cliuan
(School of X1ri?hatmni< EnfjirM沁ri隅，Changchun lliiiversity nf Technology ? (.□lian^climik I3Q0I2 9 China)
AlVjMt越玖：hi onJrr Io n^lizr I he srki4Njl|i operation of〔industrial robot in the〔 process〔 of ■ operati on,
^ional iTKirkl uf m x -f] egrf e-cf-freen Inm johd indiMtrial mboH e^tAblisherl hy lining Sol ii I Works, and then a
five-order ‘polynomial ； interpolation algorithm〔 wasi proposed] totrack the joi nts “path pla nning of the rob iii|； in ihe kiiwniAtic^ modH of i僦h怡trial hiKif, ADAMS i isused to ] complete〔 the itrajectoryplanning and
Dian. The ^imulatinn results show ill at llir five-order polynomial iiirrrjMilatiicin algorilhni effectively solvew the problem of diAcniitinunuA diis^oiuiiitiiiliy, ami obtains lhe continuous snamth. cniTe of each joint9 which verifies
I he ijffccl of irajechiry planning and prtn'id饴 an cfficienl and 也uBhle iraj^ctory* planning rrictli^L
Key wtirds: industrial robol; 讨“ry plan