Abstract
The coordinate measuring robot is a new type of measuring robot which is different from the traditional three coordinate measuring machines. For deeply research on coordinate measuring robot, the kinematics and the trajectory planning technology of the robot should be analyzed and studied. Firstly, according to the theoretical model of the forward and inverse kinematics of the robot which established by D-H method, the simulation model of the forward and reverse solutions of the robot is built by using the SIMMECHANICS and M functions of MATLAB, which verifies the correctness of the kinematics; secondly, random object trajectory is planned, and the object trajectory and the simulation trajectory are compared. Finally, the correctness and feasibility of the principle of trajectory planning are verified in this paper, which lays a foundation for the next work.
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The authors would like to think the reviewers for their very helpful comments and suggestions which have improved the presentation of the paper.
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Jiliang, Z., Bo, N., Yu, S., Hongbo, L., Hailin, S., Jindong, X. (2019). Research on Trajectory Planning Technology of Coordinate Measuring Robot. In: Deng, K., Yu, Z., Patnaik, S., Wang, J. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2018. Advances in Intelligent Systems and Computing, vol 856. Springer, Cham. https://doi.org/10.1007/978-3-030-00214-5_72
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DOI: https://doi.org/10.1007/978-3-030-00214-5_72
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