摘要
针对机械臂搬运过程中的模拟仿真需求,提出基于搬运机械臂姿态的解析方法和末端定位方案,并基于逆运动学分析,给出一套轨迹生成方案。首先运用D-H法分析机械臂结构参数确定轴间坐标关系,建立运动学模型,通过解析法确定末端位置和机械臂位姿的正、逆运动学关系,并求出末端可行域以及多解的确定方案。基于逆运动学分析,运用五次多项式插值来避免冲击。根据机械臂末端起止点生成平滑的末端运动轨迹以及位姿关于时间的参数方程。提出搬运时间最短原则的轨迹规划方案。在MATLAB仿真下,结果表明该方案设计的轨迹连续平滑,关节运动满足速度与加速度约束,并无跳变和冲击,说明了方案的合理性。该方案为搬运机械手运动规划方案提供借鉴。
Aiming at the simulation requirements of six-axis manipulator in the process of handling,the analytical method and the end positioning scheme based on the attitude of manipulator are proposed,and a set of trajectory generation scheme is proposed based on the inverse kinematics analysis.Firstly,the D-H method is used to analyze the structural parameters of the manipulator to determine the coordinate relationship between the axes,and the kinematics model is established.The forward and inverse kinematics relationship of the end position and the manipulator pose was determined by the analytical method,and the feasible domain of the end and the determination scheme of multiple solutions are obtained.On the basis of the inverse kinematics analysis,the quintic polynomial interpolation is used to avoid impact.According to the starting and ending points of the end of the manipulator,the smooth end trajectory and the time parameter equation of the pose are generated.A path planning scheme based on the principle of the shortest handling time is proposed.The result of the MATLAB simulation shows that the trajectory of the design scheme is continuously smooth and the joint motion meets the constraints of velocity and acceleration without jump and impact,which shows the rationality of the scheme.The scheme provides reference for the motion planning scheme of manipulators.
作者
罗恩泽
LUO Enze(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)
出处
《机械》
2023年第1期74-80,共7页
Machinery
