CAJ | 학술논문

文章建立了RB 08型工业机器人D-H模型 ,对机器人的运动学求解进行了分析 ;设计了一种基于工业控制计算机(IPC)和运动控制器(UMAC)的模块化分布式机器人控制系统 ,搭建了机器人运动控制系统硬件平台 ,完成了控制系统的人机界面、路径规划、示教在线和运动学求解等功能模块的软件设计 ;最后 ,针对RB 08机器人工作空间内的2个相邻位置点 ,进行了笛卡尔空间内的三次样条轨迹规划实验 ,验证了系统软件的各模块功能软件 ,同时得到了关节空间内各关节分别采用直线插补和样条插补时的位置跟随误差.
문장건립료RB 08형공업궤기인D-H모형 ,대궤기인적운동학구해진행료분석 ;설계료일충기우공업공제계산궤(IPC)화운동공제기(UMAC)적모괴화분포식궤기인공제계통 ,탑건료궤기인운동공제계통경건평태 ,완성료공제계통적인궤계면、로경규화、시교재선화운동학구해등공능모괴적연건설계 ;최후 ,침대RB 08궤기인공작공간내적2개상린위치점 ,진행료적잡이공간내적삼차양조궤적규화실험 ,험증료계통연건적각모괴공능연건 ,동시득도료관절공간내각관절분별채용직선삽보화양조삽보시적위치근수오차.
The D-H model of RB 08 robot was established to solve kinematic problems ,and the modu-larized and distributed robot control system based on industrial control computer(IPC) and universal motion and automation controller(UMAC) was proposed .Hardware platform of the system was con-structed and the software for function modules of human machine interface(HMI) ,path program-ming ,teaching online and kinematic solution was designed .Finally ,the path planning experiment of cubic spline in Cartesian coordinate based on two adjacent points within RB 08 robot's working space was conducted and the position following error of joints in the condition of line interpolation or spline interpolation was acquired ,which proved the correctness of function module software developed .