| 基于MATLAB的移栽机械臂运动学分析与仿真 |
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| 引用本文： | 胡飞,尹文庆,陈彩蓉.基于MATLAB的移栽机械臂运动学分析与仿真[J].江西农业学报,2012,24(12):151-153,157. |
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| 作者姓名： | 胡飞 尹文庆 陈彩蓉 |
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| 作者单位： | 南京农业大学工学院、江苏省智能化农业装备重点实验室,江苏南京,210031 |
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| 基金项目： | 江苏省农机三项工程项目 |
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| 摘 要： | 为了实现对四自由度移栽机械臂的精确控制,采用D-H法建立机械臂的连杆坐标系和运动学方程,实现了机械臂运动学正解。根据移栽机械臂的特点及参数,用解析法求得移栽机械臂的运动学逆解。运用MATLAB中的Robotics Tool-box工具箱对移栽机械臂进行运动学仿真,验证了所求得的正解和逆解。
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| 关 键 词： | 移栽机械臂 MATLAB Robotics Toolbox 运动学分析 仿真 |
Kinematics Analysis and Simulation of Transplanting Robot Arm Based on MATLAB |
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| HU Fei
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YIN Wen-qing
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CHEN Cai-rong.Kinematics Analysis and Simulation of Transplanting Robot Arm Based on MATLAB[J].Acta Agriculturae Jiangxi,2012,24(12):151-153,157. |
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| Authors: | HU Fei YIN Wen-qing CHEN Cai-rong |
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| Institution: | (College of Engineering,Nanjing Agricultural University;Jiangsu Provincial Key Laboratory for Intelligent Agricultural Equipment,Nanjing 210031,China) |
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| Abstract: | In order to control the four-dimension transplanting robot arm accurately,the kinematics equation and the joint coordinate system of robot arm were established by using Denavit-Hartenberg method,and the forward solution of the kinematic equation was solved.According to the characteristics and parameters of transplanting robot arm,the inverse solution of the kinematics equation was solved by using the analytic method.The forward and inverse kinematics solutions of transplanting robot arm were proved by the kinematics simulation with Robotics Toolbox of MATLAB,which provided a theoretical foundation for trajectory planning and precise controlling of transplanting robot arm. |
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| Keywords: | Transplanting robot arm MATLAB Robotics Toolbox Kinematics analysis Simulation |
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