UR5机器人运动学分析与轨迹规划研究  

Research on Kinematics Analysis and Trajectory Planning of UR5 Robot

作　　者：吴璞[1] 夏长林 景鸿翔 Wu Pu;Xia Changlin;Jing Hongxiang(Taiyuan Institute of Technology,Taiyuan 030008,China;Taiyuan Depot,Daqin China Railway Co.,Ltd.,Taiyuan 030045,China;School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]太原工业学院,太原030008 [2]大秦铁路股份有限公司太原车辆段,太原030045 [3]中北大学机械工程学院,太原030051

出　　处：《煤矿机械》2021年第4期55-58,共4页Coal Mine Machinery

基　　金：山西省国际合作重点研发项目(201903D421015);太原工业学院院级重点科学基金资助项目(2020LG01)。

摘　　要：以UR5机器人为研究对象,为提高作业效率并保证其运动的平稳性,对其进行运动学分析与轨迹规划研究。采用D-H方法对机械臂的正、逆运动学进行了分析。以关节最大速度为约束,结合五次多项式得到了机械臂各关节的轨迹。通过建立机器人的Simulink控制模型,以关节角速度为输入,得到关节的角加速度曲线。通过对比轨迹规划与模型仿真的结果,验证了运动学方程的准确性。Taking the UR5 robot as the research object, in order to improve the working efficiency and ensure the stability of its movement, the kinematics analysis and trajectory planning were studied.Using the D-H method to analyze the forward and inverse kinematics of the manipulator. Taking the maximum joint speed as the constraint and combining the fifth degree polynomial, obtained the joints of the manipulator trajectory. By establishing the Simulink control model of the robot and taking the joint angular velocity as input, the angular acceleration curve of the joint was obtained. By comparing the results of trajectory planning and model simulation, the accuracy of the kinematics equation was verified.

关 键 词：UR5机器人 D-H法 轨迹规划 SIMULINK 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]