Research and Application of the Solving Method for Robotic Workspace

He Jiawei; Ping Xueliang; Li Zhaoyang; Jiang Yi

doi:10.16578/j.issn.1004.2539.2015.10.016

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Research and Application of the Solving Method for Robotic Workspace

更新时间：2022-10-20

- Research and Application of the Solving Method for Robotic Workspace
- Vol. 39, Issue 10, Pages: 68-71(2015)
- 作者机构：
  
  1. 江南大学机械工程学院江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.10.016
  CLC：
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[1]何佳唯,平雪良,李朝阳,蒋毅.机器人工作空间求解方法研究及应用[J].机械传动,2015,39(10):68-71.

He Jiawei, Ping Xueliang, Li Zhaoyang, et al. Research and Application of the Solving Method for Robotic Workspace. [J]. 39(10):68-71(2015)
[1]何佳唯,平雪良,李朝阳,蒋毅.机器人工作空间求解方法研究及应用[J].机械传动,2015,39(10):68-71. DOI： 10.16578/j.issn.1004.2539.2015.10.016.

He Jiawei, Ping Xueliang, Li Zhaoyang, et al. Research and Application of the Solving Method for Robotic Workspace. [J]. 39(10):68-71(2015) DOI： 10.16578/j.issn.1004.2539.2015.10.016.

摘要

针对机器人工作空间的求解问题,在现有研究方法基础上,将蒙特卡洛法的优点和Matlab的仿真建模功能相结合,提出了一种新的求解工作空间的方法;以Staubli TX60L六轴串联机器人为例,分别用数值法、几何绘图法和本文提出的方法求解出工作空间,进行对比分析,结果证明,此方法不仅不需要考虑复杂的运动学方程,且准确度高、运算速度快。

Abstract

For the solution of the robotic workspace,on the basis of existing research methods,a new solution method which combines the advantage of Monte- Carlo method with Matlab simulation modeling capability is proposed. Based on Staubli TX60 L six axis serial robot,the workspace is respectively generated by using numerical method,the geometric mapping method and the proposed method,and comparison analysis is carried out,the results prove that this method need not to consider complex kinematics equation,and the accuracy high and computing speed fast.

关键词

蒙特卡洛法仿真机器人工作空间

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