MOTOMANGP180型工业机器人的建模与仿真研究  

Modeling and Simulation of MOTOMANGP180 Industrial Robot

作　　者：刘晓刚[1,2] 吴俊辰 孙红 陈志峰 郑利华 Liu Xiaogang;Wu Junchen;Sun Hong;Chen Zhifeng;Zheng Lihua(School of Mechanical and Traffic Engineering,Guangxi University of Science and Technology,Liuzhou,Guangxi 545000,China;School of Automotive and Traffic Engineering,Guilin University of Aerospace Technology,Guilin,Guangxi 541000,China)

机构地区：[1]广西科技大学机械与交通工程学院,广西柳州545000 [2]桂林航天工业学院汽车与交通工程学院,广西桂林541000

出　　处：《机电工程技术》2021年第7期25-28,46,共5页Mechanical & Electrical Engineering Technology

基　　金：广西创新驱动发展重大专项基金项目(编号:AA18242049)。

摘　　要：基于运动学理论基础,利用标准D-H参数法对MOTOMAN-GP180型工业机器进行建模,得到机器人连杆坐标系模型,根据变换矩阵通式求解出机器人正运动学方程,并对机器人逆运动进行分析,再将D-H参数代入Matlab中的机器人工具箱进行三维模型的建立,正运动学求解函数Fkine仿真得到的数据与公式计算数据一致,证明模型建立正确。利用蒙特卡洛法对机器人工作空间进行求解,得到的空间图显示满足大多数场景工作要求。针对机器人搬运过程中的点到点的轨迹规划,采用五次多项式插值的方式轨迹进行优化,最终得到6个关节的位置、速度、加速度曲线平滑且连续,为该型号机器人的运动学研究提供了新思路。Based on the theory of kinematics,the standard D-H parameter method was used to model the MOTOMAN-GP180 industrial machine,and the robot link coordinate system model was obtained.According to the general formula of transformation matrix,the forward kinematics equation of the robot was solved,and the inverse motion of the robot was analyzed.Then the D-H parameter was replaced into the robot toolbox in Matlab to establish the three-dimensional model,and the forward kinematics solution function Fkine was obtained.The simulation data was consistent with the formula calculation data,which proved that the model was correct.Monte Carlo method was used to solve the workspace of the robot,and the space diagram obtained met the requirements of most scenes.Aiming at the point-to-point trajectory planning in the process of robot transportation,the quintic polynomial interpolation method was used to optimize the trajectory.Finally,the position,velocity and acceleration curves of the six joints were smooth and continuous,which provided a new idea for the kinematics research of this type of robot.

关 键 词：工业机器人 运动学 轨迹规划 MATLAB仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]