关节一体化机器人运动控制与B样条曲线  

Integration of Joint Robot Motion Control with B-spline Curver

作　　者：赵春[1] 甘戈[2] 蒋哲文 

机构地区：[1]内蒙古机电职业技术学院机电工程系,内蒙古呼和浩特010051 [2]中国科学院大学研究生学院,北京100049 [3]东软医疗系统有限公司,辽宁沈阳110179

出　　处：《机械设计与制造》2017年第1期258-261,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(11126028)

摘　　要：针对关节一体化机器人在高速复杂运动下需要能够运动行走、保持手臂平滑。首先利用MDH法建立了转换坐标系,得到了各关节连杆的相对关系。其次,针对关节一体化机器人空机械手的特点,在分析了非均匀B样条曲线后,将非均匀B样条曲线应用到机器人机械手的轨迹规划中去。最后将运动学算法和非均匀B样条曲线进行了实验,通过仿真实验可以看到这种方法可以解决机器人准确经过多个中间插补位姿的难题。实验结果表明,运动学算法和非均匀B样条曲线算法具有很好的鲁棒性对于机器人的精确运动控制有着重要的意义。it is aimed at the phenomena of joint integration robot shake, which move and keep robot arm smooth in the high speed and complex motion. Firstly, the conversion coordinate system is established by MDH method, and the relative relationship of the joint connecting rod is obtained. Secondly, according to the characteristics of the joint robot manipulator, the non-uniform rational B-spline curve is analyzed, and the non-uniform rational B-spline curve is applied to the trajectory planning of the robot manipulator. Finally, the kinematics algorithm and non-uniform rational B-spline curves are used in the experiment. The simulation results can be seen that this method can solve the problem that the joint integrated robot can accurately pass through multiple intermediate interpolation positions. The experimental results show that the algorithm has a good robustness for the kinematic and non-uniform rational B-spline curves, and it is very important for the precise motion control of the robot.

关 键 词：关节一体化 非均匀B样条曲线 运动学 轨迹 

分 类 号：TH16[机械工程—机械制造及自动化] P242.62[天文地球—测绘科学与技术]