六自由度机械臂轨迹规划算法研究  

Research on Trajectory Planning Algorithm of 6-DOF Manipulator

作　　者：任伟 江明 REN Wei;JIANG Ming(College of Electrical Engineering,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学电气工程学院

出　　处：《安徽工程大学学报》2019年第6期52-59,共8页Journal of Anhui Polytechnic University

基　　金：国家自然科学基金资助项目(61271377)

摘　　要：机械臂在运行过程中,一旦出现不连续、不平稳问题,会降低工作效率且增加机体维护成本,由此提出了一种4-5-4多项式分段插值算法来解决此类问题。针对PUMA560机器人,运用D-H参数法和解析法研究了机器人运动学模型,并在此基础上采用4-5-4多项式分段插值算法分析了轨迹规划问题。最后借助MATLAB仿真了机器人工作空间,验证了运动学模型的准确性,并通过4-5-4多项式分段插值算法与传统分段插值算法对比分析,验证了4-5-4多项式分段插值算法的可行性、稳定性和优越性。In the process of manipulator operation,once discontinuous and unstable problems occur,it will reduce the work efficiency and increase the maintenance cost.Therefore,a 4-5-4 polynomial piecewise interpolation algorithm is proposed to solve these problems.Aiming at PUMA560 robot,the D-H parameter method and analytical method are used to study the kinematics of the robot,and the 4-5-4 polynomial piecewise interpolation algorithm is applied to analyze the trajectory planning problem.Finally,the workspace of the robot is simulated with MATLAB to verify the accuracy of the kinematics model.The feasibility,stability and superiority of the 4-5-4 polynomial piecewise interpolation algorithm are verified by comparing the 4-5-4 polynomial piecewise interpolation algorithm with the traditional piecewise interpolation algorithm.

关 键 词：六自由度机械臂 运动学 D-H参数 分段插值 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]