四自由度串联机械手轨迹规划研究.pdfVIP

Abstract Now ，robots have been used in various area in the world .The technological research of robot which is included basis and intelligent field is very important task. The basal research of robot is included kinematics, dynamics, trajectory planning, control system of sensors, technique of remote controlling and so on. The research of trajectory planning is more important and basal than others in the field of robots research. Taking the AS-M Robot which comes from Shanghai Grandar Robotics Co., Ltd. as the solid model, from the kinematics view, this paper primarily studies the trajectory planning of the 4-DOF serial manipulator. Trajectory planning can be conducted in plane and in space, and the primary research orientation of this paper is trajectory programming in plane. What is more, take the stroke font of the Chinese character as the research object, accomplishing the trajectory planning of the robot. This orientation has prodigious valuable significance and applicable prospect of the trajectory planning studying in the industrial robot and popular science education robot. The structure and theory of kinematics and performance parameter of AS-M Robot are analyzed in this article, and established coordinate of robot’s connecting bar using D-H method, and than calculated the directs and inverse solution of kinematics. In the condition of VC++, the calculation has been compiled and realized. Through the combinatorial arithmetic of tri-polynomial interpolation and tri-spline interpolation, the kinetic discipline of robot’s trajectory is planned, and deduced the relation between joints’ angle and times. Through the calculation, the joints’ a