基于MATLAB Robotics工具箱的ER50机器人轨迹规划与仿真  

Trajectory Planning and Simulation of ER50 Manipulator Based on MATLAB Robotics Toolbox

作　　者：任军[1] 吴正虎 曹秋玉 REN Jun;WU Zheng-hu;CAO Qiu-yu(Center for Robotics Research,School of Mechanical Engineering,Hubei University of Technology,Hubei Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院机器人技术研究中心,湖北武汉430068

出　　处：《机械设计与制造》2022年第8期33-36,共4页Machinery Design & Manufacture

基　　金：湖北省自然科学基金(2017CFB128)。

摘　　要：为研究ER50机器人的轨迹规划,首先根据D-H参数法对机器人正、逆运动学进行了求解,得到了机器人关节变量与末端位姿的关系。然后在MATLAB Robotics工具箱中建立了机器人的仿真模型,通过对机器人进行正、逆运动学仿真验证了模型的正确性。最后使用五次多项式插值法结合MATLAB Robotics工具箱对ER50机器人进行了空间任意点到点的轨迹规划仿真,得到了平滑连续的轨迹曲线。仿真结果表明机器人轨迹规划合理且各关节运动性能良好,为进一步研究ER系列机器人提供了参考依据。In order to study the trajectory planning ofER50 robot,the forward and inverse kinematics of the robot were firstly solved by D-H parameter method,and the relationship between the joint variables and the terminal pose of the robot was obtained.Then,the simulation model of the robot was built in the MATLAB Robotics toolbox,and the correctness of the model was verified by the forward and inverse kinematics simulation of the robot.Finally,the quintic polynomial interpolation method was combined with MATLAB Robotics toolbox to simulate the trajectory planning of ER50 robot from arbitrary point to point in space,and the smooth and continuous trajectory curve was obtained.The simulation results show that the trajectory planning of the robot is reasonable and the motion performance of each joint is good,which provides a reference for further research of ER series robots.

关 键 词：ER50机器人 MATLAB仿真 五次多项式插值 轨迹规划 

分 类 号：TH16[机械工程—机械制造及自动化] TH113.22