基于Matlab的双机器人协作空间求解及分析  

Double-robot collaborative workspace solution and analysis based on Matlab

作　　者：王威 许勇[1] 刘勇 宋伟[1] WANG Wei;XU Yong;LIU Yong;SONG Wei(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院

出　　处：《轻工学报》2019年第4期102-108,共7页Journal of Light Industry

摘　　要：以双机器人协作系统模型为研究对象,根据其D-H参数求出运动学正解,基于Matlab,利用蒙特卡洛方法解出双机器人工作空间的公共区域,采用极值理论法和搜索区域法对公共区域边界曲线进行提取,可确定双机器人协作空间的界限曲面和极限位置.仿真结果表明,该方法具有易于实现、空间表达直观等优点,可应用于其他结构形式和任意自由度的双臂机器人类似问题求解.Taking the double-robot cooperation system as the research object,the kinematics positive solution was obtained according to its D-H parameter.Based on Matlab,the Monte Carlo method was used to solve the common area of the double-robot workspace,and the extreme value theory and search area method were used to the common area boundary.By extracting the curve,the boundary surface and the extreme position of the dual robot cooperation space could be determined.The simulation results showed that the method had the advantages of easy implementation and intuitive spatial expression,and could be applied to any dual-arm robots with other structural forms and arbitrary degrees of freedom to solve similar problems.

关 键 词：双机器人 协作空间 蒙特卡洛法 极值理论 MATLAB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]