CAJ | 학술논문

针对在线示教再现编程方法受不确定因素影响较大的缺点，在MATLAB软件环境下应用D-H法则对工业机器人本体建立运动学模型，并对码垛工作单元进行了整体建模；在对机器人重复定位精度进行实验验证的基础上，依据实际码垛任务在笛卡尔空间内对机器人末端执行器路径进行了设计，并返回关节空间内对该路径进行了运动学仿真，完成了码垛任务的末端执行器轨迹规划，在模拟工作单元动态特性基础上，提出了一种多变的工作空间内机器人轨迹规划方法。
침대재선시교재현편정방법수불학정인소영향교대적결점，재MATLAB연건배경하응용D-H법칙대공업궤기인본체건립운동학모형，병대마타공작단원진행료정체건모；재대궤기인중복정위정도진행실험험증적기출상，의거실제마타임무재적잡이공간내대궤기인말단집행기로경진행료설계，병반회관절공간내대해로경진행료운동학방진，완성료마타임무적말단집행기궤적규화，재모의공작단원동태특성기출상，제출료일충다변적공작공간내궤기인궤적규화방법。
Focused on the defect of industrial manipulator online demonstration programming, which is vul-nerable to various uncertain factors, a kinematic model of M-10iA industrial robot, as well as the entire work cell, is obtained based on D-H theory using MATLAB. On the basis of a repositioning resolution ex-periment and the analysis of practical stacking process, the path in Cartesian space of the end effecter is de-signed. Then a kinematic simulation of the path is conducted in joint space and the trajectory planning of the end effecter is completed. On the basis of dynamic characteristics simulation of work cell, an approach of trajectory planning for solving the programming issue of industrial robot in changeable work cell is presen-ted.