摘要
针对工业机器人逆运动学求解计算量大、通用性不强、对初始参数敏感、控制精度不高等问题,以六自由度IRB 4600-40/2.55型机器人为研究对象,根据D-H法构建逆运动学模型,在各关节运动过程中的关节角度约束前提下,综合考虑各关节角度调整和位姿调整平稳性要求,构建了包括3个目标函数的非线性优化模型,并引入NSGA-Ⅲ算法求解。通过MATLAB的Simulink仿真模块以及Robotics Toolbox机器人工具箱进行仿真试验,仿真试验结果表明:机器人末端执行器沿所设定轨迹曲线运动的跟踪性能强,各关节在运动轨迹上的关节角度变化连续且光滑、运动平稳,且NSGA-Ⅲ算法求解所建优化模型收敛速度快、控制精度高。从而证明了所建模型的科学合理性和算法的可行性和有效性。
In response to the problems of high computational complexity,weak universality,sensitivity to initial parameters,and low control accuracy in solving the inverse kinematics of industrial robots,this paper takes the six degree of freedom(6-DOF)IRB 4600-[KG0.3mm]40/2.55 robot as the research object,and constructs an inverse kinematics model based on the D-H method.Comprehensively considering the stability requirements of joint angle adjustment and pose adjustment during the motion process of each joint,a nonlinear optimization model including three objective functions is constructed,and the non dominated sorting genetic algorithm(NSGA-Ⅲ)algorithm is introduced for solution.Simulation experiments were conducted using the Simulink simulation module of MATLAB and the Robotics Toolbox robot toolbox.The simulation results showed that the tracking performance of the robot′s end effector moving along the set trajectory curve is strong,and the joint angle changes of each joint on the motion trajectory are continuous and smooth,in addition,the motion is stable.The NSGA-Ⅲalgorithm solves the optimized model with fast convergence speed and high control accuracy.This proves the scientific rationality of the model built in this article and the feasibility and effectiveness of the algorithm.
作者
吕焱豪
王桂荣
吴俊明
LYU Yanhao;WANG Guirong;WU Junming(School of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China;Lishui Power Supply Company,State Grid Zhejiang Electric Power Co.,Ltd.,Lishui 323000,China)
出处
《组合机床与自动化加工技术》
北大核心
2025年第5期78-81,88,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国网浙江省电力有限公司群众性科技创新项目(5211LS23000H)。
