摘要
为了让机器人在作业过程中运动轨迹具有连续、平滑的特性,对6自由度机械臂进行了运动学分析和轨迹规划。以6自由度的UR10机器人为研究对象,以刚体运动的齐次变换理论为基础,应用改进的D-H法对UR10机器人进行了运动学建模,基于几何与代数法对机器人进行了正、逆运动学分析,得到笛卡尔空间中末端执行器的位姿与关节空间中机器人关节角度之间的映射关系,并通过实例验证了公式推导的准确性。最后,基于MATLAB机器人工具箱,应用梯形的速度混合曲线对UR10机器人进行轨迹规划的仿真实验。试验结果表明:基于梯形的速度混合曲线得到的轨迹规划,实现了机器人的运动轨迹的连续和平滑。
In order to make the trajectory of the robot continuous and smooth during the operation,the kinematics analysis and trajectory planning of a 6 Degree of Freedom(DOF)robot are performed.Taking a 6-DOF UR10 robot as the research object,based on the homogenous transformation theory of rigid body motion,the UR10 robot was modeled by using the modified D-H method,the robot s forward and inverse kinematics were analyzed based on geometric method with algebraic method.The mapping relationship between the pose of the end effector in Catesian space and robot joint angle in joint space was obtained,and the accuracy of formula derivation was verified by an example.Finally,based on the MATLAB robotics toolbox,the trajectory planning simulation experiment of the UR10 robot was performed by using the trapezoidal speed hybrid curve.The experimental results show that the trajectory planning based on the trapezoidal velocity hybrid curve achieves the continuous and smooth motion trajectory of the robot.
作者
刘强
杨道国
郝卫东
LIU Qiang;YANG Daoguo;HAO Weidong(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)
出处
《机床与液压》
北大核心
2019年第17期22-28,35,共8页
Machine Tool & Hydraulics
基金
广西科技重大专项(桂科AA17204018)
