基于位置反解算法的并联机器人坐标变换方法

Coordinate transformation method of parallel robot based on position inverse solution algorithm

摘要:

目的为提高工作效率,提升工业机器人的可靠性、稳定性和运动精度,避免机器人出现速度以及加速度的突变,对机器人的位置进行准确的控制。方法 以RBT-6T03P并联机器人为例,应用坐标变化法和位置反解算法对并联机器人机构的位置坐标进行分析并利用MATLAB进行仿真。结果 结果表明：通过位置反解对并联机器人的坐标进行变换求解是方便可行。结论 所述控制方法相对于并联机器人求正解算法更加简单、方便、快捷。

Abstract:

Objective to improve the work efficiency, enhance the reliability, stability and movement accuracy of industrial robots, avoid sudden changes in the speed and acceleration of robots, and accurately control the position of robots.Method Taking the RBT-6T03P parallel robot as an example, the position coordinates of the parallel robot mechanism are analyzed and simulated using by MATLAB using the coordinate change method and the position inverse solution algorithm.Result The coordinate transformation method of parallel robot based on position inverse algorithm is more succinct. Conclusion The control method is simpler, more convenient and faster than the parallel robot algorithm.