六自由度并联机器人轨迹生成及实验研究

摘要

为实现并联机器人运动轨迹的快速生成,提出了一种基于JPEG图像格式的运动轨迹快速生成方法,该方法可以快速地将图纸上路径轨转化为并联机器人预期路径.首先对JPEG图像格式文件的轨迹生成进行研究,然后用Matlab进行特征点提取及曲线拟合,通过仿真验证此方法的可行性.最后以H850六自由度并联机器人为研究对象,进行轨迹生成实验研究,验证基于JPEG图像格式的轨迹快速生成方法所生成轨迹的精确度.%To achieve trajectory generation of the parallel robot, a trajectory rapid generation method based on JPEG image format was proposed, this method can quickly extract drawing feature points of the path into the expected path of parallel robot.Firstly used MATLAB for feature extraction and curve fitting, whose correctness and efficiency was verified by using simulation the feasibility of the path generation method based on JPEG image. Which saw the H850-6 DOF parallel robot as the object of study,path generation experiments based on JPEG image,precision was verified.