【摘要】 在Matlab环境下,采用D-H法对STAUBL TX90机器人建立了三维仿真模型。基于所建模型,对其进行正逆运动学问题进行了分析,并在关节空间坐标系下和笛卡尔空间坐标系下进行了简单的轨迹规划仿真。实验数据表明,该模型可以得到有效准确的运动轨迹和仿真数据,为深入研究轨迹规划的优化、轨迹跟踪提供了重要的数据分析基础。更多还原

【Abstract】 Based on Denavit-Hartenberg parameters method,the 3-D simulation model of STAUBL TX90 robot is established.The kinematics,inverse kinematics and the trajectory planning are analyzed in this paper.Then on the basis of kinematics,this paper respectively simulated trajectory planning in joint space and cartesian space.The experimental data show that the model can get effectively accurate trajectory and the simulation data,and provide important basis analysis for further research on optimization of trajectory planning,and trajectory tracking.更多还原