一种协作型机器人运动性能分析与仿真
Analysis and simulation on kinematics performance of a collaborative robot
查看参考文献16篇
文摘
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随着制造模式的变革,协作型机器人在工业领域的应用日益广泛。本文介绍了协作型机器人的特性,并且以KUKA LBR iiwa机器人为例,进行运动性能分析,旨在为研发此类机器人提供设计理论依据。利用Denavit-Hartenberg法建立了该机器人运动学模型。基于蒙特卡洛法在MATLAB环境下对机器人灵活性和可操作性进行分析,并对其在狭小空间内作业进行轨迹规划,仿真结果表明LBR iiwa机器人具有良好的灵活性、可操作性及避障能力。 |
其他语种文摘
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With the revolution of manufacturing mode,the application of collaborative robot in industry is becoming increasingly widespread. This paper introduces the characteristics of collaborative robot and analyzes the kinematics performance of KUKA LBR iiwa which is the typical representative of collaborative robots. The aim of this work is to provide design theory basis for developing this kind of robot. The robot kinematic model is established by Denavit-Hartenberg method. Based on Monte-Carlo method, the flexibility and manipulability of robot are analyzed in MATLAB environment. The trajectory of robot working in narrow workspace is planned, simulation results show that LBR iiwa has good flexibility, manipulability and obstacle avoidance ability. |
来源
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智能系统学报
,2017,12(1):75-81 【核心库】
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DOI
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10.11992/tis.201604018
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关键词
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LBR iiwa
;
协作型机器人
;
灵活性
;
可操作性
;
狭小空间
;
轨迹规划
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地址
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中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016
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语种
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中文 |
文献类型
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研究性论文 |
ISSN
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1673-4785 |
学科
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自动化技术、计算机技术 |
基金
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国家自然科学基金项目
;
辽宁省自然科学基金
;
中国科学院重点部署项目
;
辽宁省产业共性技术创新平台计划项目
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文献收藏号
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CSCD:5962937
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