MATLAB环境下六自由度焊接机器人运动学逆解及优化  

Kinematics Inverse Solution and Optimization of 6DOF Welding Robot with MATLAB

作　　者：王战中[1] 杨长建[1] 刘超颖[1] 赵赛[1] 杜启鑫 熊蒙 

机构地区：[1]石家庄铁道大学,河北石家庄050043

出　　处：《机械设计与制造》2013年第7期182-184,共3页Machinery Design & Manufacture

基　　金：河北省科技支撑项目(122121113D);河北省自然基金项目(E2013210107)

摘　　要：通用工业机器人运动学方程有多组逆解,而机器人系统最终只能选择其中的一组解来驱动机器人进行工作,因此需要对多组逆解进行选择优化后作为机器人的最优解。由于逆解的求解过程非常复杂,因此通过分析焊接机器人的正、逆运动学求解过程,提出用MATLAB GUI编程来自动求解机器人的多组逆解,并采用最短行程的原则自动寻找机器人的最优解。与其他方法相比,该方法简单明了,计算速度快。最后给出两组计算实例来验证计算机求解结果的正确性。Usually there are more than one inverse solutions to kinematics equation of general industrial robot,while the robot control-system will only use one optimized solution as the optimal solution to drive the robot,so the kinematics inverse solutions should be optimized and chosen.Due to the complexity of the inverse solution and based on the analysis of the welding robot＇s positive and inverse kinematics solution,a method that use the MATLAB GUI programming to solve the inverse solution and the shortest stroke principle to automatic search for the optimal solution of the robot is proposed.Compared with other methods,this method is simple and clear,and the computing speed is fast.Finally two group of calculating examples are given to verify the correctness of the result calculated with this method.

关 键 词：焊接机器人 逆运动学 MATLAB 最优解 

分 类 号：TH16[机械工程—机械制造及自动化]