摘要
对多自由度工业机器人设计中的运动学建模、轨迹规划与控制问题进行了系统性的工程研究。以6自由度协作机器人UR操作臂为例,建立了D-H参数坐标系,推导了其正逆运动学模型,通过Matlab数值解算与仿真,验证了模型的正确性。采用五次多项式插值算法实现了关节空间的轨迹规划,设计直线插补算法保证了笛卡尔空间轨迹规划的顺滑性。最后采用Adams和Matlab联合仿真技术,建立了仿真环境下的机器人模型和控制系统,并进行了验证。仿真实验证明了所提面向多自由度机器人系统性工程设计方法的有效性,其采用的联合仿真技术能够缩短机器人开发周期,具有较好的应用价值。
The kinematics modeling, trajectory planning and control problems in the design of M-DOF industrial robot are studied systematically. Taking the UR manipulator of 6-DOF cooperative robot as an example, the D-H parameters coordinate system is established, and its forward-inverse kinematics model is derived. The correctness of the model is verified by Matlab numerical solution and simulation. The trajectory planning of joint space is realized by quintic polynomial interpolation algorithm, and the linear interpolation algorithm is designed to ensure the smoothness of Cartesian space trajectory planning.The robot model and control system in the simulation environment are established and verified by using the joint simulation technology of Adams and Matlab. Simulation experiments show the effectiveness of the proposed method, and the simulation technology has a good application value for improving the efficiency of robot engineering development.
作者
钟秋波
陈浩文
张文辉
ZHONG Qiubo;CHEN Haowen;ZHANG Wenhui(Robot of School,Ningbo University of Technology,Ningbo 315211,China;Industrial Center,Nanjing Institute of Technology,Nanjing 323000,China;State Key Laboratory for Manufacturing Systems Engineering,Xi'an Jiaotong Univerisity,Xi'an 710000,China)
出处
《黑龙江大学自然科学学报》
CAS
2020年第3期367-371,共5页
Journal of Natural Science of Heilongjiang University
基金
国家自然科学学基金资助项目(612033660,61502256)
机械制造系统工程国家重点实验室开放基金资助项目(sklms2019011)。
关键词
工业机器人
运动学建模
轨迹规划
控制器设计
联合仿真
industrial robots
kinematic model
trajectory planning
controller design
combined simulation
