基于Plant Simulation和MATLAB的六轴机器人联合仿真运动优化研究  

Research on Motion Optimization of Six-axis Robot Based on Plant Simulation and MATLAB

作　　者：邰思铭 王红平[1] 张乂文 TAI Siming;WANG Hongping;ZHANG Yiwen(School of Mechatronical Engineering,Changchun University of Science and Technology,Changchun 130022,China)

机构地区：[1]长春理工大学机电工程学院,长春130022

出　　处：《机械工程师》2021年第8期19-25,共7页Mechanical Engineer

基　　金：吉林省科技厅重点技术攻关项目(20190302019GX)。

摘　　要：针对生产系统仿真软件Plant Simulation中的三维模型在运行过程中的不可控且易产生干涉的问题,以此软件中自定义导入的六轴机器人模型作为研究对象,提供了一种软件联调来优化运动的解决思路。先以标准D-H坐标变换法建立其运动坐标系并进行逆运动学求解,再借助MATLAB对运动学解析式进行编程表达,利用ActiveX接口和Plant Simulation进行数据交互,相互传递必要的数据并将MATLAB求解出的一组最优关节角值代回到Plant Simulation中,通过仿真软件的内部的参数设置、策略语言编程来实现六轴机器人模型的精确控制和驱动。实验结果表明,可以通过软件联调的方式来优化产线仿真软件中机器人的运动,能够实现避障及平稳运行的要求,仿真效果也更具有实际的参考意义。Targeting at the problem that the three-dimensional model in the software Plant Simulation(A production system simulation software)is uncontrollable and easy to interfere with during operation,this paper provides a software joint debugging to optimize the solution ideas of the movement using the six-axis robot model imported from the software as the research object.Firstly,the method of standard D-H coordinate transformation is used to establish its motion coordinate system and solve the inverse kinematics.Then MATLAB is used to program the kinematics analytical formula,ActiveX interface and Plant Simulation are used to perform data interaction.After transferring the necessary data to each other,a set of optimal joint angle values solved by MATLAB are substituted back into Plant Simulation.The precise control and driving of the six-axis robot model are realized through the simulation software's internal parameter setting and the programming of the strategic language.Experiment results show that the robot's motion in the production line simulation software can be optimized through the joint debugging of the software,which can also achieve the requirements of obstacle avoidance and smooth operation.Moreover,the effect of simulation has more practical reference significance.

关 键 词：Plant Simulation MATLAB ACTIVEX控件 机器人仿真 逆运动学 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]