基于Matlab/Adams的工业焊接机器人运动学分析与控制联合仿真  

Simulation of kinematics analysis and control of industrial welding six-joints robot based on Matlab/Adams

作　　者：王超[1] 张文辉 江洁[1] 叶晓平[1] 蒋理剑[1] WANG Chao;ZHANG Wenhui;JIANG Jie;YE Xiaoping;JIANG Lijian(School of Engineering,Lishui University,Lishui 323000,Zhejiang,China;School of Electronic Engineering,Nanjing Xiaozhuang University,Nanjing 211100,Jiangsu,China)

机构地区：[1]丽水学院工学院,浙江丽水323000 [2]南京晓庄学院电子工程学院,江苏南京211100

出　　处：《中国工程机械学报》2020年第6期504-509,共6页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金面上项目(61772247);浙江省自然科学基金资助项目(LY18F030001);浙江省科技厅公益项目(LGG18E050001);南京晓庄学院校级高层次培育项目(2020NXY14)。

摘　　要：采用Matlab/Adams联合仿真技术对6关节工业机器人运动学与动力学问题进行了研究。首先采用D-H参数建模法,建立了工业机器人运动学模型。采用坐标变换矩阵推导出机器人运动学方程,进行了正逆运动学求解,并采用Matlab Robot-Tool工具箱验证了运动学求解方程的正确性。针对工业机器人轨迹规划问题,设计了基于五次多项式的轨迹规划算法。最后通过ADAMS建立了3D参数模型,利用Matlab/Adams联合仿真技术验证了运动学模型的正确性,为下一步控制系统设计提供了理论依据。The kinematics and dynamics of industrial robot with 6 joints are studied by using Matlab/Adams mutual simulation technology.Firstly,D-H parameter modeling method is adopted to establish the kinematics model of industrial robot.Then,the kinematics equation of robot is derived by using coordinate transformation matrix,and the forward and inverse kinematics are solved.Then the robot toolbox of Matlab is used to verify the correctness of kinematics solution equation.Aiming at the trajectory planning algorithm of industrial robot,a trajectory planning method based on cubic polynomial is designed.Finally,a 3 D parameter model is established through ADAMS,and the kinematics model is verified by Matlab/Adams joint simulation technology,which provides a theoretical basis for the next step of control system design.

关 键 词：工业机器人 运动学 轨迹规划 联合仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]