CAJ | 학술논문

为了研究多自由度机器人的运动情况，讨论机器人的运动学问题，利用MATLAB中的Robotics Toolbox工具箱对该机器人进行正运动，逆运动分析，以及对机器人运动轨迹规划。然后将MATLAB中机器人运动得到的数据制成spline曲线导入ADAMS进行仿真，直观的观看机器人的每一个动作。实验证明从ADAMS中得到各关节的运动速度以及加速度与MATLAB中的运动情况完全一致，从而达到了对机器人运动轨迹的观测和控制以及利用 MATLAB 和ADAMS对机器人进行联合仿真的目的，为下一步对机器人进行动力学分析提供了较好的方法。
위료연구다자유도궤기인적운동정황，토론궤기인적운동학문제，이용MATLAB중적Robotics Toolbox공구상대해궤기인진행정운동，역운동분석，이급대궤기인운동궤적규화。연후장MATLAB중궤기인운동득도적수거제성spline곡선도입ADAMS진행방진，직관적관간궤기인적매일개동작。실험증명종ADAMS중득도각관절적운동속도이급가속도여MATLAB중적운동정황완전일치，종이체도료대궤기인운동궤적적관측화공제이급이용 MATLAB 화ADAMS대궤기인진행연합방진적목적，위하일보대궤기인진행동역학분석제공료교호적방법。
In order to study the movement of the robot with multiple degrees of freedom, this paper discusses the robot kinematics problem, applies the Robotics Toolbox tool of MATLAB to the analysis of the robot’s forward and inverse movement and its trajecto-ry planning. Then the robot motion data in MATLAB, plotted as the spline curve, is imported to ADAMS for simulation. From the sim-ulation, every movement of the robot can be observed intuitively. The experimental results show that the motion speed and the accel-eration of al joints obtained from ADAMS are coincided with those in MATLAB, so that the goal is achieved,that the observation and control of the robot’ s trajectory, and its united simulation are realized by utilizing MATLAB and ADAMS. This provides a better meth-od for the further dynamic analysis of the robot.