摘要
工业机器人轨迹规划常常会存在误差,故针对六自由度工业机器人轨迹规划与误差规律在Simscape Multibody环境下进行仿真研究。首先以工业机器人KUKA KR6为基础进行SolidWorks的机械建模,并采用标准D-H法对该工业机器人进行数学建模,然后对该模型进行关节空间下的轨迹规划,利用Peter Corke提供的MATLAB Robotic开源工具箱针对设定轨迹进行数值运算,最后将机器人机械模型导入Simulink软件的Simscape Multibody中对机器人进行轨迹动态仿真。通过可视化仿真可得到规划运动轨迹与实际仿真中测量的运动轨迹,对输入与输出的运动轨迹误差规律进行分析,并针对实际生产与轨迹规划过程提出建议。
With the advancement of industrial automation,industrial robots occupy an important position to increase productivity.Based on this,research on industrial robot trajectories has also attracted more and more attention,but there are often errors in trajectory planning.This paper studies the trajectory planning and error laws of 6-degree-of-freedom industrial robots in Simscape Multibody environment.First,the mechanical modeling of SolidWorks is based on the industrial robot KUKA KR6,and the industrial robot is mathematically modeled using the standard D-H method,and then the trajectory planning in joint space is performed on the model,using the open source MATLAB Robotic Toolbox provided by Peter Corke to perform calculations on the set trajectory values.Finally,the robot mechanical model is imported into Simulink Simscape Multibody for dynamic simulation of robot trajectory.The calculated motion trajectory input and the motion trajectory measured in the simulation through visual simulation is obtained,the error law of the motion trajectory input and output is analyzed,and suggestions are made in the actual production and trajectory planning process.
作者
黄宏俊
姜羽飞
HUANG Hongjun;JIANG Yufei(Engineering Training Center,Henan University of Engineering,Zhengzhou 451191,China;Department of Mechanical and Electrical Engineering,Zhengzhou Vocational College of Technology,Zhengzhou 441500,China)
出处
《河南工程学院学报（自然科学版）》
2020年第4期34-40,共7页
Journal of Henan University of Engineering：Natural Science Edition
