Automobile Applied Technology ›› 2022, Vol. 47 ›› Issue (22): 139-143.DOI: 10.16638/j.cnki.1671-7988.2022.022.028
• Process and Equipment • Previous Articles
DI Ruxia, ZHANG Xiaoyu, LIU Changjiang, FU Shasha
Online:
Published:
Contact:
迪茹侠,张晓宇,刘长江,付莎莎
通讯作者:
作者简介:
基金资助:
Abstract: Aiming at the problems of pose transformation calculation, model establishment and students' understanding in industrial robot teaching for vocational undergraduates. Taking IRB1410 robot as the research object in the aspect of spatial motion analysis of robot, this paper theoretically establishes the D-H coordinate system of the robot, writes the parameter table as the key data of modeling, deduces the kinematics model of the robot, and verifies the accuracy of the model through MATLAB software simulation. The model of this paper provides some methods and ideas for the teaching theory and practical operation of vocational undergraduate.
Key words: IRB1410; Industrial robot; Matlab; Vocational undergraduate teaching; Kinematics simulation
摘要: 针对职业本科工业机器人教学中存在的位姿变换计算、模型建立困难以及学生难以理 解等问题,文章以 IRB1410 型机器人为研究对象,从理论上建立了机器人的 D-H 坐标系并列 出参数表,作为建模的关键数据,推导出机器人的运动学模型,并通过 Matlab 软件仿真检验 所建模型的准确性。文章提出的模型对于职业本科的教学理论和实践操作提供了一定的方法 思路。
关键词: IRB1410;工业机器人;Matlab;职业本科教学;运动学仿真
DI Ruxia. Kinematics Analysis and Simulation of Industrial Robot Based on IRB1410[J]. Automobile Applied Technology, 2022, 47(22): 139-143.
迪茹侠. 基于 IRB1410 型工业机器人运动学分析与仿真[J]. 汽车实用技术, 2022, 47(22): 139-143.
0 / Recommend
Add to citation manager EndNote|Ris|BibTeX
URL: http://www.aenauto.com/EN/10.16638/j.cnki.1671-7988.2022.022.028
http://www.aenauto.com/EN/Y2022/V47/I22/139