六自由度机器人运动学仿真及轨迹规划  

The Kinematics Simulation and Trajectory Planning of Six-DOF Robot

作　　者：乐英[1] 岳艳波 

机构地区：[1]华北电力大学能源动力与机械工程学院,河北保定071000

出　　处：《组合机床与自动化加工技术》2016年第4期89-92,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：河北省自然科学基金项目(E2014502042);中央高校基本科研业务费专项资金项目(11QJ61)

摘　　要：为减小机器人运动过程中的振动和冲击,延长机器人使用寿命,提高轨迹规划的精度,以六自由度工业机器人为研究对象,针对采用五次多项式样条规划的轨迹因加加速度有突变而导致的轨迹精度不高的问题,采用五次和七次非均匀B样条对机器人轨迹进行规划。机器人的运动学建模和轨迹规划的仿真通过MATLAB平台实现。仿真结果表明,采用五次和七次非均匀B样条规划的运动轨迹速度、加速度光滑,加加速度连续没有突变,机器人轨迹精度较好,运动性能优于五次多项式样条。In order to reduce the vibration and shock in the movement of robot,extend the service life,and improve the accuracy of trajectory planning,to solve the problem of trajectory inaccurate based on quintic polynomial caused by the curve of jerk occurs some breaking points,this thesis is concerning with trajectory planning study based on six-DOF industrial robot by means of quintic and septuple non-uniform B-spline.The modeling and simulation of the procedure for trajectory planning is realized by taking advantage of software MATLAB. The simulation results showthat the proposed method could achieve smoother velocity and precision,the continuity of jerk is well,kinematics performance is better than quintic polynomial.

关 键 词：工业机器人 非均匀B样条 轨迹规划 MATLAB 

分 类 号：TH166[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]