In order to improve the efficiency of industrial robots in practical work, the kinematics equation and model of the KR 16-2 robot were established by using the improved D-H method.The five-segment S-curve interpolation method was used to optimize the trajectory, so as to improve the robot motion stability.A multi-control method of fitness was proposed, and the optimal smooth path was obtained by recalibrating various operators.The simulation results show that the robot can get a smoother and optimal distance path by using the method
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丛志文,王好臣,高茂源,王泽政,李家鹏. KR16-2机器人运动学分析及路径规划[J].机床与液压,2020,48(15):50-55. CONG Zhiwen, WANG Haochen, GAO Maoyuan, WANG Zezheng, LI Jiapeng. Kinematics Analysis and Path Planning of KR16-2 Robots[J]. Machine Tool & Hydraulics,2020,48(15):50-55