基于MATLAB Robotics Toolbox的UR5机器人轨迹规划与仿真  

Trajectory Planning and Simulation of UR5 Manipulator Based on MATLAB Robotics Toolbox

作　　者：王君[1] 陈迪 陈红杰 任军[1] 游颖[1] 魏琼[1] 汪泉[1] WANG Jun;CHEN Di;CHEN Hongjie;REN Jun;YOU Ying;WEI Qiong;WANG Quan(School of Mechanical Engineering,Hubei University of Technology,Wuhan Hubei 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068

出　　处：《机床与液压》2018年第23期11-15,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金资助项目(51405140);湖北省自然科学基金重点项目(2015CFA112);湖北省教育厅优秀中青年科技创新团队计划项目(T201505)

摘　　要：为了解UR5机器人实时轨迹变化情况,根据Denavit-Hartenberg参数法在MATLAB Robotics Toolbox中利用Link函数建立了UR机器人的三维数学模型,对UR5机器人进行了正、逆运动学求解与理论分析,推导出各个关节角之间的变化关系;利用三次多项式插值法对任意PTP (点到点)之间的空间轨迹规划进行理论分析,并结合MATLAB Robotics工具箱对UR5机器人数学模型进行了空间轨迹规划和仿真,得到了连续变化的轨迹曲线。仿真结果验证了机器人运动学模型的正确性和合理性,为UR系列机器人的进一步研究和应用提供了理论依据。In order to understand the UR5 robot real-time trajectory changes,according to the Denavit-Hartenberg parameter method,by using the Link function in MATLAB Robotics Toolbox,a three-dimensional mathematical model of UR robot was built.The positive and inverse kinematics of UR5 robot was analyzed.The relation between the angles of each joint was deduced.Three-polynomial interpolation method was used to analyze the theoretical space trajectory planning between the points.Combined with the MATLAB Robotics toolbox,the space trajectory planning and simulation of the robot model were done and the continuous varied trajectory curve was obtained.The results verify the correctness and rationality of the robot kinematics model.It provides a theoretical basis for further research and application of UR series robots.

关 键 词：UR5机器人 轨迹规划 MATLAB仿真 三次多项式插值 

分 类 号：TH113.22[机械工程—机械设计及理论]