摘要
以特定环境下的智能生产线6自由度机械臂GP-25为对象,通过研究机械臂在上料过程中经过始末两点间连续路径点时,角位置、角速度和角加速度与时间之间的关系,避免抖动产生的误差并提高工作效率。使用机器人工具箱建模,并通过该方法求得运动学正解,随后用五次多项式法规划上料轨迹;最终使用Simulink进行可视化仿真,判断是否出现碰撞干涉。结果显示,五次多项式规划的方法可以有效完成轨迹规划,且无明显抖动、碰撞和干涉等现象。
This paper takes the six degree of freedom manipulator GP-25 of intelligent production line in a specific environment as the object,and studies the relationship between angular position,angular velocity,angular acceleration and time when the manipulator passes through the continuous path point between the beginning and end points in the feeding process,so as to avoid the error caused by jitter and improve work efficiency.In this paper,the robot toolbox is used to model,and the forward kinematics solution is obtained by this method,and then the feeding trajectory is planned by the quintic polynomial method.Finally,Simulink is used for visual simulation to judge whether there is collision interference.The results show that the quintic polynomial programming method can effectively complete the trajectory planning without obvious jitter,collision and interference.
作者
孙军
王焕然
孙诗华
SUN Jun;WANG Huan-ran;SUN Shi-hua(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110000,China;Liaoning Branch,China Academy of Industrial Internet,Shenyang 110000,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第7期5-8,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(51575365)。
关键词
轨迹规划
五次多项式
机械臂
6自由度
GP-25
quintic polynomial
manipulator
trajectory planning
six degrees of freedom
GP-25
