基于V-REP和MATLAB的机器人建模及轨迹规划仿真验证  

Robot Modeling and Trajectory Planning Simulation Verification Based on V-REP and MATLAB

作　　者：孙凌云 罗福源[1] 刘鹏[1] SUN Lingyun;LUO Fuyuan;LIU Peng(College of Mechanic and Electronic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2022年第1期108-112,共5页Machine Building & Automation

基　　金：江苏省自然科学基金优秀青年基金项目(BK20160084);南京市产学研后补助项目(201722014)。

摘　　要：以6自由度串联结构机械臂为研究对象,通过DH参数法采用MATLAB工具箱建立机械臂的运动学模型,完成正逆运动学方程求解函数。使用三维设计软件UG对机械臂进行三维结构建模,通过接口导入到跨平台开源仿真软件V-REP中建立其机械臂的虚拟样机模型,运用MATLAB完成运动轨迹规划并通过远程API同步模式控制V-REP完成运动学仿真和碰撞检测。通过上述方法对机器人向压力机内部装卸工件过程进行了仿真,结果表明:该方法能够生成平稳无干涉的装卸工件轨迹,并通过后续的物理样机控制实验验证了该仿真方法的正确、有效。With the 6-DOF serial structure manipulator as the research object,the kinematics model of the manipulator is established by the DH parameter method and Matlab toolbox to solve the forward and inverse kinematics equations.The three-dimensional structure of the manipulator is modeled with the 3D design software UG,and the virtual prototype model of the manipulator is established by importing it into the cross platform open source simulation software V-REP through the interface.The motion trajectory planning is completed by MATLAB,and the kinematics simulation and collision detection are completed by controlling V-REP in remote API synchronous mode.The simulation results show that the method can generate smooth and non-interference loading and unloading trajectory,and the simulation method is verified to be correct and effective through the subsequent physical prototype control experiments.

关 键 词：工业机器人 运动学仿真 虚拟样机 V-REP MATLAB 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]