基于 MatIab 的机器人运动学分析与轨迹规划仿真

摘要

在 MatIab 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。%Based on Denavit-Hartenberg parameters method,the 3-D simuIation modeI of STAUBL TX90 robot is estabIished.The kinematics,inverse kinematics and the trajectory pIanning are anaIyzed in this paper.Then on the basis of kinematics,this pa-per respectiveIy simuIated trajectory pIanning in joint space and cartesian space.The experimentaI data show that the modeI can get effectiveIy accurate trajectory and the simuIation data,and provide important basis anaIysis for further research on optimization of trajectory pIanning,and trajectory tracking.