Research of Trajectory Planning of Industrial Robot Based on VC++
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摘要: 文章探讨了工业机器人轨迹规划的理论和研究方法,介绍了基于VC++的机器人轨迹规划软件的实现方法。该软件使机器人能够实时规划无碰轨迹,并利用ROSTY软件绘制无碰位姿的机构仿真简图。通过Motoman-HP3机器人的实验,实现了运用VC++应用程序调用Motocom32软件的外部接口函数对工业机器人进行轨迹规划的应用。仿真实验证明,所开发的机器人轨迹规划软件可以实现机器人的远程控制,能保证机器人定位的精度。Abstract: The paper discussed theory and research method of trajectory planning of industrial robot,and introduced realization method of software of trajectory planning of industrial robot based on VC++.The software can make robot to plan collision-free trajectory in real-time,and use ROSTY software to draw simulation diagram of mechanism of collision-free position and pose.Meanwhile,through experiment of Motoman-HP3 robot,it realized application using external interface function of Motocom32 software called by VC++ application program to plan trajectory for industrial robot.The simulation experiment proved that the software of trajectory planning of robot can realize remote control and ensures position precision for robot.
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Key words:
- robot /
- trajectory planning /
- remote control /
- real-time /
- Motoma
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