CAJ | 학술논문

利用杆件极限组合原理，结合定步距角法可固定关节变量的特点，提出一种提取工作空间边界的新方法———“极限定步距角法”，阐明思路并给出其具体实施步骤。以某型 ABB 机器人为例，利用D-H 法设定机器人连杆参数及关节变量，并建立机器人坐标系与 D-H 坐标系间的转换关系，获得机器人边界关键点位置，进而借助 MATLAB 软件绘制机器人手腕处三维透视工作空间，对比分析表明所获边界关键点精度完全满足商用机器人标准。所提出的方法简单有效、计算便捷、利于操作，对串联机器人工作空间的研究具有理论指导意义和实践应用价值。
이용간건겁한조합원리，결합정보거각법가고정관절변량적특점，제출일충제취공작공간변계적신방법———“겁한정보거각법”，천명사로병급출기구체실시보취。이모형 ABB 궤기인위례，이용D-H 법설정궤기인련간삼수급관절변량，병건립궤기인좌표계여 D-H 좌표계간적전환관계，획득궤기인변계관건점위치，진이차조 MATLAB 연건회제궤기인수완처삼유투시공작공간，대비분석표명소획변계관건점정도완전만족상용궤기인표준。소제출적방법간단유효、계산편첩、리우조작，대천련궤기인공작공간적연구구유이론지도의의화실천응용개치。
Based on the principles of bar limit combined with fixed joint variable,a new method for the workspace boundary extraction———“limit fixed interval angle”was proposed.The ideas and im-plementation steps was illuminated.Taking the ABB robot as an example,the link parameters and joint variables were set with D-H method.In addition,the transformation relation between the robot coordinate system and D-H coordinate system was established,from which the key point of workspace was obtained.Using MATLAB software,the three dimensional perspective workspace of the robot in the wrist was drew.A comparative analyses reveal that the accuracy of the boundary keypoint satisfies the standard of the commercial robots completely.The method presented herein is simple,effective, easy to calculate and manipulate.The research fruit of workspace of the serial robot possesses impor-tant theoretical guiding significance and practical application value.