KUKA机器人的三维模型及其轨迹规划  

Three-dimensional Model and Trajectory Planning of KUKA Robot

作　　者：马传奇[1] MA Chuanqi(College of Engineering Science and Technology,Fuyang Institute of Technology,Fuyang 236031,China)

机构地区：[1]阜阳职业技术学院工程科技学院,安徽阜阳236031

出　　处：《新乡学院学报》2022年第9期28-33,共6页Journal of Xinxiang University

基　　金：安徽省质量工程项目(2020kfkc391);高职院校提质培优行动计划项目。

摘　　要：利用KUKA机器人的结构参数、齐次坐标变换以及D-H(Denavit-Hartenberg)参数法导出了KUKA机器人的运动学方程,并进行了逆运动学方程求解。利用MATLAB的Robotics Toolbox建立了KUKA机器人的三维模型,得到了它的4种逆运动学状态。分析了KUKA机器人的关节空间轨迹规划和笛卡儿空间规划。结果表明,各关节转角及转角向量和预设参数一致,利用D-H参数法能提高机器人的运动轨迹的准确性,保证机器人连杆末端到达预定位置。Base d on the structural parameters of KUKA robot, the kinematics equation of KUKA robot is derived by using the homogeneous coordinate transformation theory and D-H(Denavit-Hartenberg) parameter method, and the inverse kinematics equation is solved. The three-dimensional model of KUKA robot is established by using the robotics toolbox of MATLAB, and its four inverse kinematics states are obtained. The joint space trajectory planning and Cartesian space planning of KUKA robot are analyzed. The results show that the rotation angle and rotation vector of each joint are consistent with the preset parameters. The D-H parameter method can improve the accuracy of the robot’s motion trajectory and ensure that the end of the robot’s connecting rod reaches the predetermined position.

关 键 词：KUKA机器人 D-H建模 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]