6R工业机器人几何求逆优化算法及仿真分析  

6R Industrial Robot Geometric Inversion Optimization Algorithm and Simulation Analysis

作　　者：程浩田 祝锡晶[1] 冯昕宇 赵晶 蔡展鹏 丁帅帅 CHENG Hao-tian;ZHU Xi-jing;FENG Xin-yu;ZHAO Jing;CAI Zhan-peng;DING Shuai-shuai(Shanxi Key Laboratory of Advanced Manufacturing Technology,The North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学山西省先进制造技术重点实验室,太原030051

出　　处：《组合机床与自动化加工技术》2021年第4期75-79,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(51975540);山西省研究生教育创新项目(2019BY102)。

摘　　要：为提高机器人工作性能,满足实际复杂工况需求,研究了SNR3-C30型6R工业机器人的运动状态和轨迹规划。首先,根据D-H法建立机械臂连杆坐标系以及运动学方程;其次,基于其末端执行器的位姿矩阵特性,提出一种结合位姿分离思想的几何求逆优化算法,该算法利用机器人各关节相对腕部的几何位置关系来求解前三个关节角θ_(1),θ_(2),θ_(3),然后在此基础上通过旋转子矩阵求解剩余的关节角θ4,θ5,θ6;最后,在MATLAB Robotics仿真模块中对改进算法进行验证,并采用多项式插值法对机械臂进行关节空间轨迹规划。研究结果表明,改进算法具有优越性和有效性,并且当采用五次多项式插值法进行轨迹规划时机器人运行更平稳。To improve the working performance of the robot and meet the needs of actual complex working conditions,the motion state and trajectory planning of the SNR3-C306R industrial robot were studied.First,the coordinate system and kinematics equations of the robot arm link are established according to the D-H method.Secondly,based on the posture matrix characteristics of its end effector,a geometric inversion optimization algorithm combined with posture separation is proposed.This algorithm uses the geometric positional relationship of each joint of the robot relative to the wrist to solve the first three joint anglesθ_(1),θ_(2),θ_(3),and then on the basis of this,the remaining joint anglesθ4,θ5,θ6 are solved by rotating the sub-matrix.Finally,the improved algorithm is verified in the MATLAB Robotics simulation module,and the polynomial interpolation method is used to plan the joint space trajectory.The research results show that the improved algorithm has superiority and effectiveness,and when the fifth-order polynomial interpolation method is used for trajectory planning,the robot runs more smoothly.

关 键 词：工业机器人 逆运动学 多项式插值 轨迹规划 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]