关节型机器人运动学仿真及控制系统设计  

Kinematics Simulation and Control System Design of Joint Robot

作　　者：丁云鹏 朱学军[1] 孙绪强 孟祥秀 陈旭 DING Yiun-peng;ZHU Xue-jun;SUN Xu-qiang;Meng Xiang-xiu;CHEN Xu(School of Mechanical Engineering,Ningxia University,Yinchuan 750021,China)

机构地区：[1]宁夏大学机械工程学院,宁夏银川750021

出　　处：《控制工程》2021年第3期546-552,共7页Control Engineering of China

基　　金：国家自然科学基金资助项目(51765056)。

摘　　要：关节型机器人各运动关节动态特性和控制系统的稳定性直接影响机器人以及轨迹规划的可达性。以IRB140关节型机器人为研究对象,依据标准D-H参数法和空间位姿变换理论推导出机器人正向运动学数学模型,并采用机器人逆运动学和改进后的五次多项式插值算法实现了机器人在关节空间下进行轨迹规划时各运动关节速度和加速度过渡平滑的目的。最后,搭建机器人控制系统实验平台,实验结果表明,所设计的关节型机器人控制系统能够准确、稳定的控制各关节运动,精准地完成不同运动路径下的夹取搬运任务,满足实际生产工作要求。The dynamic characteristics of each joint and the stability of the control system of the joint robot directly affect the accessibility of robot and trajectory planning. Taking IRB140 joint robot as the research object, the forward kinematics mathematical model of the robot is derived based on the standard D-H parameter method and the theory of space pose transformation, and the robot inverse kinematics and the improved quintic polynomial interpolation algorithm are used to realize the smooth transition of the velocity and acceleration of each moving joint when the robot carries out trajectory planning in joint space. Finally, the experimental platform of the robot control system is built. The experimental results show that the designed joint robot control system can accurately and stably control the movement of each joint, accurately complete the clamping and handling tasks under different motion paths, and meet the requirements of actual production.

关 键 词：关节型机器人 标准D-H参数法 轨迹规划仿真 机器人控制系统 

分 类 号：TH391.9[机械工程—机械制造及自动化]