CAJ | 학술논문

MDJ90码垛机器人是一种用于完成生产线上物料搬运和码放的机器人。通过运用机器人的相关理论，对该机器人进行了运动学和动力学分析，并总结分析了该机器人的特点。在建立了基于拉格朗日方程的动力学模型基础上，对机器人采用了实时重力补偿的控制方案，通过仿真实验表明了该方案的有效性。目前，相应的技术已经应用于机器人的现场作业中。
MDJ90마타궤기인시일충용우완성생산선상물료반운화마방적궤기인。통과운용궤기인적상관이론，대해궤기인진행료운동학화동역학분석，병총결분석료해궤기인적특점。재건립료기우랍격랑일방정적동역학모형기출상，대궤기인채용료실시중력보상적공제방안，통과방진실험표명료해방안적유효성。목전，상응적기술이경응용우궤기인적현장작업중。
The MDJ90 palletizer robot is used to transfer and palletize cargoes on the production line.Using robotics theory, the kinematics and dynamics of the robot are analyzed and summarized some feature.By the dynamics model based on La-grange Equation, we take the control project of real-time compensation for the gravity and prove the validity of it by computer simulation.Now this technology has been applied to fieldwork of the palletizer robot.