本文關(guān)鍵詞： LBR iiwa 協(xié)作型機(jī)器人 靈活性 可操作性 狹小空間 軌跡規(guī)劃　出處：《智能系統(tǒng)學(xué)報(bào)》2017年01期 　論文類型：期刊論文

【摘要】：隨著制造模式的變革,協(xié)作型機(jī)器人在工業(yè)領(lǐng)域的應(yīng)用日益廣泛。本文介紹了協(xié)作型機(jī)器人的特性,并且以KUKA LBR iiwa機(jī)器人為例,進(jìn)行運(yùn)動(dòng)性能分析,旨在為研發(fā)此類機(jī)器人提供設(shè)計(jì)理論依據(jù)。利用DenavitHartenberg法建立了該機(jī)器人運(yùn)動(dòng)學(xué)模型�；诿商乜宸ㄔ贛ATLAB環(huán)境下對(duì)機(jī)器人靈活性和可操作性進(jìn)行分析,并對(duì)其在狹小空間內(nèi)作業(yè)進(jìn)行軌跡規(guī)劃,仿真結(jié)果表明LBR iiwa機(jī)器人具有良好的靈活性、可操作性及避障能力。
[Abstract]:With the change of manufacturing mode, cooperative robot is widely used in industrial field. This paper introduces the characteristics of cooperative robot, and takes KUKA LBR iiwa robot as an example. The movement performance is analyzed. In order to provide the theoretical basis for the design of this kind of robot, the kinematics model of the robot is established by using the DenavitHartenberg method. Based on Monte Carlo method, the kinematics model of the robot is set up under the MATLAB environment. The flexibility and maneuverability of the robot are analyzed. The simulation results show that the LBR iiwa robot has good flexibility, maneuverability and obstacle avoidance ability.
【作者單位】： 中國(guó)科學(xué)院沈陽(yáng)自動(dòng)化研究所機(jī)器人學(xué)國(guó)家重點(diǎn)實(shí)驗(yàn)室;中國(guó)科學(xué)院大學(xué);
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51405482) 遼寧省自然科學(xué)基金計(jì)劃項(xiàng)目(2013020054) 中國(guó)科學(xué)院重點(diǎn)部署項(xiàng)目(KGZD-EW-608-1) 遼寧省產(chǎn)業(yè)共性技術(shù)創(chuàng)新平臺(tái)計(jì)劃項(xiàng)目(2015106014)
【分類號(hào)】：TP242
【正文快照】： Analysis and simulation on kinematics performanceof a collaborative robotHU Mingwei1,2,WANG Hongguang1,PAN Xin’an1,TIAN Yong1,2,CHANG Yong1(1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,C

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