CAJ | 학술논문

以拆除机器人工作装置为研究目标，采用MATLAB Robotics Toolbox建模，并在GUI中调用Robotics Toolbox程序，建立了该装置运动学仿真图形用户界面。在该平台可以进行正、逆运动学仿真研究，快速绘制工作装置总工作空间和特定姿态角下的工作空间，在工作空间利用鼠标自动拾取目标点的坐标数值并进行运动学逆解计算，动态显示运动轨迹等。仿真实验表明其有效性和实用性。
이탁제궤기인공작장치위연구목표，채용MATLAB Robotics Toolbox건모，병재GUI중조용Robotics Toolbox정서，건립료해장치운동학방진도형용호계면。재해평태가이진행정、역운동학방진연구，쾌속회제공작장치총공작공간화특정자태각하적공작공간，재공작공간이용서표자동습취목표점적좌표수치병진행운동학역해계산，동태현시운동궤적등。방진실험표명기유효성화실용성。
Taking demolition robot working device as research objective,MATLAB Robotics Toolbox was used to build its mod-el,the Robotics Toolbox program was called in GUI,the kinematics simulation graphical user interface of the device was established. The platform can be used to simulate the forward kinematics and the inverse kinematics,to draw the working device's envelope diagram of the whole work space and the work space with a particular attitude angle quickly,to pick up the coordinate values of a target point automatically in the work space by mouse and to calculate its inverse kinematics,to display the trajectory dynamically,etc. Simulation results show its effectiveness and practicality.