摘要
为提高双臂协作机器人的控制精度,以双臂协作的汽车轮毂打磨机器人为研究对象,在采用D-H法对双臂协作机器人进行运动学分析与正逆运动学求解的前提下,采用五次B样条插值法在笛卡尔空间中对机器人的协作进行轨迹规划。仿真结果表明,该控制方案可实现双臂协作机器人的智能控制,且整个控制中机器人关节未出现碰撞和相互干涉的现象;相较于五次多项式插值、七次B样条插值的轨迹优化算法,在五次B样条插值算法的路径规划中,速度、角加速度、加速度规划的曲线均得到了有效的改善,其中加速度最大降低0.78%,说明通过五次B样条插值算法更能降低打磨机器人机械臂的惯性力,减少惯性的冲击,具有一定的工程应用价值。
In order to improve the control accuracy of the dual arm cooperative robot,taking the dual arm cooperative automobile wheel hub grinding robot as the research object,on the premise of using the D-H method to analyze the kinematics and solve the forward and inverse kinematics of the dual arm cooperative robot,the fifth order B-spline interpolation method was used to plan the trajectory of the robot cooperation in the Cartesian space.The simulation results show that the control scheme can realize the intelligent control of the dual arm cooperative robot,and the robot joints do not collide and interfere with each other in the whole control process.Compared with the trajectory optimization algorithm of quintic polynomial interpolation and seventh order B-spline interpolation,the path planning of the quintic B-spline interpolation algorithm has been effectively improved on the curve of speed,angular acceleration and acceleration planning,in which the maximum acceleration is reduced by 0.78%,which shows that the inertia force of the polishing robot arm can be reduced and the impact of inertia can be reduced through the quintic B-spline interpolation algorithm,It has certain engineering application value.
作者
胡文娟
HU Wenjuan(School of Mechanical and Electrical Engineering,Shangluo Vocational and Technical College,Shangluo 726000,China)
出处
《微特电机》
2023年第2期61-67,共7页
Small & Special Electrical Machines
基金
2021年成都游憩环境技术研究院开放性课题项目(21YQKF1822)。
关键词
双臂协作机器人
智能控制
五次B样条曲线插值
D-H法
运动学模型
dual arm cooperative robot
intelligent control
quintic B-spline curve interpolation
D-H method
kinematic model
