工业机器人轨迹规划及运动仿真系统研究

发布时间：2018-09-14 09:16

【摘要】：随着科技的发展,当今社会正走向智能化,“智能工厂”的时代将走进制造业的历史之中,而工业机器人正是这“智能工厂”的基石。随着对作业任务的要求越来越严格,使得工业机器人的研究更加的深入。本文以那智不二越(NACHI)MZ07工业机器人为研究对象,分别在正逆运动学和轨迹规划问题上对其进行了研究与仿真,并基于LabVIEW搭建了运动学仿真系统。本文的主要内容如下:首先,讲述了工业机器人的国内外发展史以及发展现状,并对本文的选题背景和研究内容进行了阐述,归纳总结了机器人在运动学和轨迹规划问题上国内外研究现状。其次,依据MZ07工业机器人的各机构参数,建立该机器人的空间连杆坐标系,通过应用D-H参数法得到各关节之间位姿坐标的齐次变换矩阵,从而构建起MZ07工业机器人的运动学方程即正运动求解。在逆运动学问题上,在给定了空间点位姿的情况下,采用代数解析法对该机器人完成逆运动学求解,求解得到其在运动过程中的关节变量。并在MATLAB环境下应用Robotics Toolbox工具包对其建立数学模型,在此基础上,分别对机器人的正、逆运动求解算法进行实验,结果验证了正、逆运行求解算法的正确性。再次,本文重点研究了在关节空间中的轨迹规划插值算法,针对MZ07机器人分别采用三次多项式、五次多项式规划插值算法进行了轨迹规划,并进行了仿真,通过实验仿真结果反应出了三次与五次多项式的不足,为了降低关节的加速度,减小关节之间的冲击力,提出采用了混合多项式的插值拟合方法。并在MATLAB环境下对算法进行了仿真验证,实验结果表明了其能够降低关节的加速度,减小了关节之间的冲击力。最后,基于LabVIEW开发环境,结合MATLAB强大的数学计算能力,搭建了针对机器人运动学问题的仿真系统,并在此仿真系统中,对轨迹规划的插值算法进行了仿真实验并分析了其实验结果,验证了混合多项式在关节空间中轨迹规划的优点。
[Abstract]:With the development of science and technology, the society is heading for intelligence. The era of "intelligent factory" will enter the history of manufacturing industry, and industrial robot is the cornerstone of "intelligent factory". With the more and more strict requirements of the task, the research of industrial robot is more and more in-depth. This paper studies and simulates the problem of forward and inverse kinematics and trajectory planning, and builds a kinematics simulation system based on LabVIEW. The main contents of this paper are as follows: firstly, the development history and development status of industrial robot at home and abroad are described, and the background and research content of this paper are described. The research status of robot kinematics and trajectory planning is summarized. Secondly, according to the mechanism parameters of MZ07 industrial robot, the coordinate system of space connecting rod of the robot is established, and the homogenous transformation matrix of position and pose coordinates between joints is obtained by applying D-H parameter method. Thus, the kinematics equation of MZ07 industrial robot is solved by positive motion. In the inverse kinematics problem, the inverse kinematics of the robot is solved by using algebraic analytic method under the given position and orientation of the space point, and the joint variables in the process of motion are obtained by solving the inverse kinematics problem. The mathematical model of the robot is established by using Robotics Toolbox toolkit in MATLAB environment. On this basis, experiments are carried out on the forward and inverse motion solving algorithms of the robot respectively, and the results verify the correctness of the forward and inverse motion solving algorithms. Thirdly, this paper focuses on the trajectory planning interpolation algorithm in the joint space. For the MZ07 robot, the cubic polynomial and the fifth polynomial interpolation algorithm are used to carry out the trajectory planning, and the simulation is carried out. In order to reduce the acceleration of joints and reduce the impact force of joints, a mixed polynomial interpolation fitting method is proposed in order to reduce the joint acceleration and the impact force between joints. Simulation results under MATLAB environment show that the algorithm can reduce the acceleration of joints and reduce the impact force between joints. Finally, based on the development environment of LabVIEW and the powerful mathematical computing ability of MATLAB, a simulation system for kinematics of robot is built, and in this simulation system, The interpolation algorithm of trajectory planning is simulated and its experimental results are analyzed. The advantages of hybrid polynomial in trajectory planning in joint space are verified.
【学位授予单位】：陕西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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