Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams
The spatial trajectory and pose planning of manipulator is often completed by interpolation calculation. In order to realize spatial curve trajectory and pose planning, a kind of method is put forward that the pose of the eoat in discrete points of the spatial circular curve is obtained, and Cardan...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.008 |
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| author | Huiyong Zhou Gongbing Su Langjia Yuan Tianxiang Liu |
| author_facet | Huiyong Zhou Gongbing Su Langjia Yuan Tianxiang Liu |
| author_sort | Huiyong Zhou |
| collection | DOAJ |
| description | The spatial trajectory and pose planning of manipulator is often completed by interpolation calculation. In order to realize spatial curve trajectory and pose planning, a kind of method is put forward that the pose of the eoat in discrete points of the spatial circular curve is obtained, and Cardan angles are worked out and fitted in Matlab by calculating discretely the Frenet frame of the spatial circular curve expressed by the parameter equation. Based on the parameters of the Kawasaki BA006N six degree of freedom manipulator body mechanism, a manipulator simulation platform is built in Adams. The driving functions including the spatial circle parameter equation and the fitting Cardan angle parameter equation are applied to the eoat as the general driver. The simulation analysis shows that the spatial circular curve trajectory and pose can be traced well by the eoat. The angular displacement, the angular velocity, the angular acceleration and the torque of the six joints of the manipulator are extracted by Adams. This method not only avoids the inverse kinematics calculation, but also provides a new method for the design of the control system and the planning of other spatial curves and surfaces. |
| format | Article |
| id | doaj-art-998d59417abb423e83111d75324bb12e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-998d59417abb423e83111d75324bb12e2025-01-10T13:58:37ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-07-0143414530648911Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in AdamsHuiyong ZhouGongbing SuLangjia YuanTianxiang LiuThe spatial trajectory and pose planning of manipulator is often completed by interpolation calculation. In order to realize spatial curve trajectory and pose planning, a kind of method is put forward that the pose of the eoat in discrete points of the spatial circular curve is obtained, and Cardan angles are worked out and fitted in Matlab by calculating discretely the Frenet frame of the spatial circular curve expressed by the parameter equation. Based on the parameters of the Kawasaki BA006N six degree of freedom manipulator body mechanism, a manipulator simulation platform is built in Adams. The driving functions including the spatial circle parameter equation and the fitting Cardan angle parameter equation are applied to the eoat as the general driver. The simulation analysis shows that the spatial circular curve trajectory and pose can be traced well by the eoat. The angular displacement, the angular velocity, the angular acceleration and the torque of the six joints of the manipulator are extracted by Adams. This method not only avoids the inverse kinematics calculation, but also provides a new method for the design of the control system and the planning of other spatial curves and surfaces.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.008Spatial circular curveFrenet frameCardan angleTrajectoryPoseAdams |
| spellingShingle | Huiyong Zhou Gongbing Su Langjia Yuan Tianxiang Liu Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams Jixie chuandong Spatial circular curve Frenet frame Cardan angle Trajectory Pose Adams |
| title | Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams |
| title_full | Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams |
| title_fullStr | Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams |
| title_full_unstemmed | Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams |
| title_short | Spatial Curve Position and Pose Planning of 6R Industrial Manipulator in Adams |
| title_sort | spatial curve position and pose planning of 6r industrial manipulator in adams |
| topic | Spatial circular curve Frenet frame Cardan angle Trajectory Pose Adams |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.008 |
| work_keys_str_mv | AT huiyongzhou spatialcurvepositionandposeplanningof6rindustrialmanipulatorinadams AT gongbingsu spatialcurvepositionandposeplanningof6rindustrialmanipulatorinadams AT langjiayuan spatialcurvepositionandposeplanningof6rindustrialmanipulatorinadams AT tianxiangliu spatialcurvepositionandposeplanningof6rindustrialmanipulatorinadams |