基于840D的工业机器人轨迹规划  

Trajectory Planning of Industrial Robot with 840D

作　　者：高岩[1,2] 韩卫光[2] 赵启杰 

机构地区：[1]中国科学院研究生院,北京100039 [2]中国科学院沈阳计算技术研究所,沈阳110171

出　　处：《组合机床与自动化加工技术》2014年第10期76-79,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金："核高基"国家科技重大专项(2012ZX01029-001-002)

摘　　要：工业机器人作为现代工业不可或缺的一部分,对其进行轨迹规划的研究十分重要。鉴于在笛卡尔空间内进行轨迹规划的种种困难,更为可行的办法是在关节空间内进行轨迹规划。5次多项式曲线可以在位置、速度、加速度都存在约束的情况下,对机器人轨迹进行拟合。最后通过840D的"The handling transformation package"模块对SCARA机器人进行配置,确定DH参数,使用改进的Matlab Robotics Toolbox对其建模,进行轨迹规划的仿真。通过研究SCARA机器人的轨迹规划,发现数值解法费时、不精确,标准化工业机器人的结构设计来获得其解析解,是今后的重要发展方向。Industrial robots is an indispensable part of modern industrial,it is very important to study trajectory planning of industrial robots. Since there are difficulties to study trajectory planning in Cartesian coordinates,researching trajectory planning in joint coordinates is a more feasible method. Quintic Polynomial curve can match robot＇s trajectory in the case that position,velocity,acceleration are all constrained. In the end,configuring SCARA robot,determining DH parameter,mathematically modeling with the improved Robotics Toolbox toolbox in Matlab and simulating trajectory planning,through ＂The handling transformation package＂module of 840 D. Through studying trajectory planning of SCARA robot,we found that the numerical solution was time-consuming and inaccuracy,to get the analytical solution of the industrial robot,standardization of structure design is one of the important development direction in the future.

关 键 词：工业机器人 轨迹规划 840D SCARA MATLAB 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]