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|Table of Contents|

图形信息与机器人轨迹控制的研究

《南京林业大学学报(自然科学版)》[ISSN:1000-2006/CN:32-1161/S]

Issue:
2009年06期
Page:
113
Column:
研究论文
publishdate:
2009-11-30

Article Info:/Info

Title:
Research on graphic information and trajectory control of robots
Author(s):
JIAO Enzhang CHEN Meihong
College of Electronic and Mechanical Engineering, Nanjing Forestry University, Nanjing 210037, China
Keywords:
graphic information robot simulation continuous trajectory control
Classification number :
TP242.2
DOI:
10.3969/j.jssn.1000-2006.2009.06.026
Document Code:
A
Abstract:
In order to accomplish the offline programming during the robot carrying out complexpath procedure, the paper proposed a method that can obtain inverse solution of the kinematic equation based on simulation results. The information of each knot on robot work path was extracted with AutoCAD, and simulated the robot’s movement with ADAMS. From the results of the simulation, we could derive the angle function for each joint of the robot. And then, we could generate a control program from these joints’ angle functions. With MOTOMANUP6 robot and related softwares, we proved the correctness and effectiveness of the proposed perspective by cutting operations simulation. The perspective and method for offline programming are suitable for a variety of industrial robot.

References

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Last Update: 2009-11-30