六自由度工业机器人轨迹规划算法研究与仿真

发布时间：2018-12-16 10:39

【摘要】：工业机器人是现代制造业重要的自动化装备。随着自动化控制和制造技术的发展,工业机器人的应用场合越来越多,对机器人运动的轨迹要求也越来越严格,除了更高的精度还需要更高的平滑性,以此降低对机器人的损坏程度。本文研究的主要内容是基于平滑性的工业机器人轨迹规划算法和程序实现。主要研究成果如下:首先,根据机器人连杆参数建立D-H模型,研究运动学和动力学原理,给出机器人的运动学和动力学方程的求解;根据机器人运动学逆解方程在Matlab上编写逆解程序,结合机器人工具箱Robotics Toolbox提供的正运动学和动力学函数,对机器人进行运动学和动力学仿真。其次,分别研究机器人关节空间和笛卡儿空间的轨迹规划,对实现关节空间和笛卡儿空间轨迹规划的平滑性的方法进行研究和分析;利用Matlab图形用户界面设计工具,结合机器人工具箱Robotics Toolbox的函数包以及所编写的轨迹规划算法程序,设计和开发了一个机器人运动仿真系统,创建机器人对象分别进行关节空间和轨迹规划的仿真和分析。最后,在传统的关节空间轨迹规划和笛卡儿空间轨迹规划方法的基础上,提出一种多约束条件下的轨迹规划迭代算法,这种算法能同时满足机器人在笛卡儿空间和关节空间的速度和加速度要求。该算法采用离散化的方法,让机器人每个运动周期在满足末端执行器在笛卡儿空间的路径约束、速度约束、加速度约束以及关节的速度和加速度约束的多约束条件下,尽可能以最大速度运动。然后在Matlab上编写该算法程序并进行仿真和分析。仿真结果表明,这种算法实现了机器人多约束条件下的轨迹规划平滑性,而且在满足约束条件下使机器人运动时间近似最优化。
[Abstract]:Industrial robot is an important automation equipment in modern manufacturing industry. With the development of automation control and manufacturing technology, industrial robots have more and more applications, and the requirements of robot motion trajectory are becoming more and more strict, besides higher accuracy and higher smoothness, In order to reduce the degree of damage to the robot. The main content of this paper is the algorithm and program realization of industrial robot trajectory planning based on smoothness. The main research results are as follows: firstly, the D-H model is established according to the parameters of the robot connecting rod, the kinematics and dynamics principles are studied, and the kinematics and dynamics equations of the robot are solved. According to the inverse kinematics equation of the robot, the inverse solution program is written on Matlab. Combined with the positive kinematics and dynamics function provided by the robot toolbox Robotics Toolbox, the kinematics and dynamics simulation of the robot is carried out. Secondly, the trajectory planning of robot joint space and Cartesian space is studied, and the smoothing method of joint space and Cartesian space trajectory planning is studied and analyzed. A robot motion simulation system is designed and developed by using the Matlab graphical user interface design tool, the function package of the robot toolbox Robotics Toolbox and the trajectory planning algorithm program. The robot object is created to simulate and analyze the joint space and trajectory planning respectively. Finally, based on the traditional trajectory planning methods of joint space and Cartesian space, an iterative algorithm for trajectory planning with multiple constraints is proposed. This algorithm can meet the speed and acceleration requirements of the robot in both Cartesian space and joint space. In this algorithm, the discretization method is used to make the robot move under the conditions of satisfying the path constraint, velocity constraint, acceleration constraint of the end actuator in Cartesian space and the velocity and acceleration constraints of the joint. Move as fast as possible. Then the algorithm program is written on Matlab and simulated and analyzed. The simulation results show that the proposed algorithm can achieve the smoothness of trajectory planning under the condition of multiple constraints, and make the robot motion time approximate optimization under the condition of satisfying the constraint conditions.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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