基于MATLAB与V-REP的机器人加工轨迹生成与运动仿真  

Machining Path Generation and Motion Simulation of Robots Based on MATLAB and V-REP

作　　者：刘宇 张世超 龚集响 LIU Yu;ZHANG Shichao;GONG Jixiang(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China)

机构地区：[1]厦门大学航空航天学院,福建厦门361102

出　　处：《厦门大学学报（自然科学版）》2018年第5期715-721,共7页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金(51205332);福建省科技重大专项(2016HZ0001-6)

摘　　要：提出了联合MATLAB和V-REP进行机器人加工轨迹生成和运动仿真的方法.该方法首先在MATLAB中,计算机器人操作空间中刀具的轨迹,并通过逆运动学计算获得刀具轨迹对应的关节参数.然后在V-REP中,采用基于关节和连杆统一坐标系的建模方法,建立与刀轨文件一致的机器人及其加工环境的三维模型.最后通过MATLAB中的外部控制程序和V-REP中的控制脚本、MATLAB和V-REP之间的通信接口,使V-REP中的机器人模型响应外部控制程序进行运动仿真和碰撞检测.采用所提出的方法对密胺脂餐具盘的机器人铣边过程进行了仿真,仿真结果表明该方法能够生成无干涉加工轨迹和正确的机器人关节运动参数.A method of machining path generation and motion simulation of robots is presented by integrating MATLAB and V-REP.First,in MATLAB,the tool path in the robot operating space is calculated,and the joint parameters corresponding to the tool path are obtained by inverse kinematics calculations.Then,in V-REP,the modeling method based on unified coordinate systems of joints and links is used to build 3D models of robot and its machining environment which is consistent with the tool path file.Finally,through the external control program in MATLAB and the control script in V-REP,and the communication interface between MATLAB and V-REP,the robot model in V-REP responds to the external control program for motion simulation and collision detection.After the edge milling process of a melamine tableware by a robot is simulated by our method,simulation results show that our method can generate interference free tool paths and correct motion parameters of robots.

关 键 词：MATLAB V-REP 联合仿真 机器人建模 刀具轨迹生成 机器人运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]