In:
Journal of Physics: Conference Series, IOP Publishing, Vol. 1670, No. 1 ( 2020-11-01), p. 012002-
Abstract:
The simulation software of manipulator is generally developed by manufacturers, and the products are only suitable for the specific company, but cannot be used in universal. Aiming at this problem, this paper establishes a mathematical model with attributes through parametric design. The standard D-H parameter method is used to model the kinematics of the manipulator. Based on the expert system, the intelligent path planning of the manipulator is carried out, and the trajectory control instructions of the manipulator are generated. According to the Monte Carlo method of point cloud, the workspace of manipulator is obtained, and the bounding box technology is used for real-time collision detection. Taking the welding work as an example, the parametric modelling and trajectory planning simulation of the manipulator are realized, and a general off-line programming platform is established.
Type of Medium:
Online Resource
ISSN:
1742-6588
,
1742-6596
DOI:
10.1088/1742-6596/1670/1/012002
Language:
Unknown
Publisher:
IOP Publishing
Publication Date:
2020
detail.hit.zdb_id:
2166409-2
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