双机器人系统运动学建模与仿真  

Kinematic Modeling and Simulation of Dual-Robot Systems

作　　者：武永强 于涛[1] 纪俐 WU Yong-qiang;YU Tao;JI Li(College of Mechanical Engineering and Automation,Liaoning University of Technology,Jinzhou 121001,China;School of Mechanical Engineering,Shenyang Aerospace University,Shenyang 110000,China)

机构地区：[1]辽宁工业大学机械工程与自动化学院,锦州121001 [2]沈阳航空航天大学机电工程学院,沈阳110000

出　　处：《组合机床与自动化加工技术》2022年第9期1-6,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：辽宁省教育厅科学研究经费项目(JQL202015406)。

摘　　要：为了深入研究双机器人运动协调关系,必须建立正确、可靠的双机器人系统运动学模型。为此,以ABB-IRB120工业机器人为研究对象,使用改进D-H参数法建立单机器人运动学模型,推导运动学正、逆解;在此基础上,提出一种新的双机器人系统的基坐标系标定方法对基坐标系进行标定,建立双机器人运动学模型;最后,利用仿真软件验证双机器人运动学模型的正确性。研究结果表明,建立的机器人运动学模型能够反应实际机器人的关节转角和末端位姿的运动学关系,所用的基坐标系标定方法方便、可靠;双机器人系统运动学模型的创建方法简单、实用,为后续双机器人运动系统的轨迹规划奠定了基础。To deeply study the dual robot motion coordination relationship,correct and reliable kinematic models of the dual robot system must be established.For this reason,ABB-IRB120 industrial robot as the subject,a single robot kinematic model was built using the improved D-H parameter method,the kinematic positive and inverse solutions are derived.Based on this,a new method of base coordinate system calibration of dual robot system is proposed to calibrate the base coordinate system.A dual-robot kinematic model was established.Finally,simulation software is used to verify the correctness of the dual robot kinematics model.The research results show that the established robot kinematic model can reflect the kinematic relationship between the joint angle and the terminal posture of the actual robot,and the calibration method of the base coordinate system used is convenient and reliable;the creation method of the dual robot system is simple and practical,which lays the foundation for the subsequent trajectory planning of the dual robot motion system.

关 键 词：双机器人系统 运动学建模 D-H参数法 基坐标系标定 

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]