[1]刘成良,张为公,翟羽健.RV12L 6R 焊接机器人运动学正解及计算机仿真系统[J].东南大学学报(自然科学版),1998,28(5):84-87.[doi:10.3969/j.issn.1001-0505.1998.05.016]
 Liu Chengliang,Zhang Weigong,Zhai Yujian.Forward Kinematic Solution and Computer Simulation of RV12L 6R Welding Robot[J].Journal of Southeast University (Natural Science Edition),1998,28(5):84-87.[doi:10.3969/j.issn.1001-0505.1998.05.016]
点击复制

RV12L 6R 焊接机器人运动学正解及计算机仿真系统()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
28
期数:
1998年第5期
页码:
84-87
栏目:
计算机科学与工程
出版日期:
1998-09-20

文章信息/Info

Title:
Forward Kinematic Solution and Computer Simulation of RV12L 6R Welding Robot
作者:
刘成良张为公翟羽健
东南大学仪器科学与工程系
Author(s):
Liu Chengliang Zhang Weigong Zhai Yujian
Department of Instrument Science and Engineering, Southeast University, Nanjing 210096
关键词:
机器人 运动学 工作空间 图形仿真
分类号:
TP391.9,TP242.2
DOI:
10.3969/j.issn.1001-0505.1998.05.016
摘要:
本文给出了6 DOFREIS焊接机器人运动学正解的解算方法,从图形学的角度进行机器人工作空间计算,然后对其实施三维图形仿真.为机器人运动学仿真系统用三维形体表示机械手复杂的位置、姿态信息,提供1种实用的方法.可给转位工作台的设计安装提供依据,使之在机器人工作空间内.这里给出实例验证了运动学解的正确性.

相似文献/References:

[1]周骥平,朱兴龙,颜景平.冗余度机器人手臂负荷自适应估测控制算法[J].东南大学学报(自然科学版),2002,32(6):929.[doi:10.3969/j.issn.1001-0505.2002.06.023]
 Zhou Jiping,Zhu Xinglong,Yan Jingping.Load adaptive estimate control arithmetic in redundant robot manipulator[J].Journal of Southeast University (Natural Science Edition),2002,32(5):929.[doi:10.3969/j.issn.1001-0505.2002.06.023]
[2]余杨,黄惟一.一种机器人光纤传感器光路设计的一般方法[J].东南大学学报(自然科学版),2001,31(1):39.[doi:10.3969/j.issn.1001-0505.2001.01.009]
 Yu Yang,Huang Weiyi.A General Method of Optical Structure Design of Robot Optical Fiber Sensors[J].Journal of Southeast University (Natural Science Edition),2001,31(5):39.[doi:10.3969/j.issn.1001-0505.2001.01.009]
[3]金万敏,姜剑虹.机器人系统的KED方程及其求解[J].东南大学学报(自然科学版),1993,23(2):12.[doi:10.3969/j.issn.1001-0505.1993.02.003]
 The KED Equation and Solving of Robot Mechanism[J].Journal of Southeast University (Natural Science Edition),1993,23(5):12.[doi:10.3969/j.issn.1001-0505.1993.02.003]
[4]金万敏,查选芳.机器人操作手末端夹持器轨迹生成的旋量方法[J].东南大学学报(自然科学版),1991,21(5):45.[doi:10.3969/j.issn.1001-0505.1991.05.007]
 Motor Method of Robot End Effector Path Generation[J].Journal of Southeast University (Natural Science Edition),1991,21(5):45.[doi:10.3969/j.issn.1001-0505.1991.05.007]
[5]卢伟,宋爱国,蔡健荣,等.柑橘采摘机器人结构设计及运动学算法[J].东南大学学报(自然科学版),2011,41(1):95.[doi:10.3969/j.issn.1001-0505.2011.01.019]
 Lu Wei,Song Aiguo,Cai Jianrong,et al.Structural design and kinematics algorithm research for orange harvesting robot[J].Journal of Southeast University (Natural Science Edition),2011,41(5):95.[doi:10.3969/j.issn.1001-0505.2011.01.019]
[6]徐卫良.机器人精度的概率优化综合[J].东南大学学报(自然科学版),1989,19(1):53.[doi:10.3969/j.issn.1001-0505.1989.01.008]
 Xu Weiliang(Department of Mechanical Engineering).Optimal Accuracy Synthesis of Industrial Robot by Stochastic Approach[J].Journal of Southeast University (Natural Science Edition),1989,19(5):53.[doi:10.3969/j.issn.1001-0505.1989.01.008]
[7]杨挺,金万敏.机器人操作手速度空间理论及其应用[J].东南大学学报(自然科学版),1989,19(3):1.[doi:10.3969/j.issn.1001-0505.1989.03.001]
 Yang Ting Jin Wanmin (Department of Mechanical Engineering).Theory of Velocityspace of Robotic Manipulator with Applications[J].Journal of Southeast University (Natural Science Edition),1989,19(5):1.[doi:10.3969/j.issn.1001-0505.1989.03.001]
[8]张庆,黄惟一,蒋洪明.机器人触觉传感器的优化设计[J].东南大学学报(自然科学版),1988,18(3):49.[doi:10.3969/j.issn.1001-0505.1988.03.007]
 Zhang Qing Huang Weiyi Jiang Hongming (Department of Automatic Control).Optimum—design of Robot Tactile Sensor[J].Journal of Southeast University (Natural Science Edition),1988,18(5):49.[doi:10.3969/j.issn.1001-0505.1988.03.007]
[9]文巨峰,罗翔,颜景平,等.基于多智能体的智能机器人分布式控制系统[J].东南大学学报(自然科学版),2003,33(1):53.[doi:10.3969/j.issn.1001-0505.2003.01.013]
 Wen Jufeng,Luo Xiang,Yan Jingping,et al.Multi-agent based distributed control system for intelligent robots[J].Journal of Southeast University (Natural Science Edition),2003,33(5):53.[doi:10.3969/j.issn.1001-0505.2003.01.013]
[10]陈俊杰,黄惟一.双边力交互方式下遥控机器人系统的网络模型[J].东南大学学报(自然科学版),1998,28(2):109.[doi:10.3969/j.issn.1001-0505.1998.02.021]
 Chen junjie,Huang Weiyi.A Network Model for Telerobot System in Bilateral Teleopration[J].Journal of Southeast University (Natural Science Edition),1998,28(5):109.[doi:10.3969/j.issn.1001-0505.1998.02.021]
[11]崔建伟,宋爱国,黄惟一.遥操作系统中MOTOMAN-SV3X机器人的运动建模研究[J].东南大学学报(自然科学版),2003,33(4):424.[doi:10.3969/j.issn.1001-0505.2003.04.011]
 Cui Jianwei,Song Aiguo,Huan Weiyi.Research on kinematics modeling of MOTOMAN-SV3X robot in teleoperate system[J].Journal of Southeast University (Natural Science Edition),2003,33(5):424.[doi:10.3969/j.issn.1001-0505.2003.04.011]

更新日期/Last Update: 2013-04-13