基于六自由度机械臂运动学问题的仿真研究

摘要

以六自由度工业机器人--MOTOMAN-HP6机器人为研究对象，简单介绍了机器人运动学的数学基础。根据机器人的相关参数，建立了机器人运动学模型及相关坐标系，对机器人的正运动学及逆运动学问题进行了研究。采用MATLAB 开发工具建立系统界面，编制了相关程序，结合实例对机器人的直线、圆弧及自由曲线轨迹的生成进行了仿真，完成了系统设计。为后续实习用工业机器人离线编程系统的开发打下了基础。%This thesis takes MOTOMAN-HP6 robot as the research object,introduces the mathematical foundation of the robot kinematics briefly.According to the related parameters of the robot,the kinematics model and the relevant coordinate of the robot are built,the kinematics and inverse kinematics problem is studied.The system interface based on MATLAB is built and the related program is compiled.The straight and curve motion of the robot are simulated with instances and the system design is completed.For the design of the off- line programming system of the practice industrial robot laid the foundation.