KUKA-KR210-2机器人运动学及奇异性分析  

Kinematics and singularity analysis of KUKA-KR210-2 robot

作　　者：张付祥[1] 高参 吴广 于得水 李俊慧 张永兴 ZHANG Fuxiang;GAO Can;WU Guang;YU Deshui;LI Junhui;ZHANG Yongxing(School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang,Hebei 050018,China;Hebei Qianjin Machinery Factory,Shijiazhuang,Hebei 050035,China;HBIS Group Shijiazhuang Iron and Steel Company Limited,Shijiazhuang,Hebei 050031,China;Hebei Xinyue Coking Company Limited,Shijiazhuang,Hebei 050199,China)

机构地区：[1]河北科技大学机械工程学院,河北石家庄050018 [2]河北前进机械厂,河北石家庄050035 [3]河钢集团石钢公司,河北石家庄050031 [4]河北鑫跃焦化有限公司,河北石家庄050199

出　　处：《河北工业科技》2023年第4期258-264,共7页Hebei Journal of Industrial Science and Technology

基　　金：河北省重点研发计划项目(22311802D);石家庄市科技计划项目(221080284A)。

摘　　要：为实现KUKA-KR210-2机器人的复杂运动控制,完成机器人末端的精准定位,对机器人进行运动学分析及奇异性分析。首先,依据KUKA-KR210-2机器人连杆参数及结构特征,采用标准D-H参数法建立与厂家一致的机器人坐标系,求解机器人的正运动学;其次,根据机器人满足Pieper准则的特点,采用分离变量法求解机器人的逆运动学;然后,采用微分变换法分析机器人的奇异性;最后,使用MATLAB软件编写运动学求解程序并进行奇异性仿真,将求解结果与KUKA-KR210-2机器人示教盒数据进行对比、验证。结果表明:求解的机器人运动学数据与示教盒数据基本一致,误差在1 mm以内,运动学分析正确;奇异性分析结果符合机器人的结构特征。研究结果可以为KUKA-KR210-2机器人高级运动控制提供技术支持,也可为同类型工业机器人的运动分析及控制研究提供参考。In order to realize the complex motion control of the KUKA-KR210-2 robot,the kinematics and singularities of the robot were analyzed to achieve precise positioning of the robot end.Firstly,according to the parameters and characteristics of the structure of the connecting links of the KUKA-KR210-2 robot,the standard D-H parameter method was used to establish robot coordinate systems consistent with the manufacturer and calculate the positive kinematics of the robot.Secondly,according to the characteristics of the robot satisfying Pieper's criterion,the separation of variables method was used to solve the robot inverse kinematics problem.Then,the robot singularity was analyzed using the differential transformation method.Finally,MATLAB software was used to write the kinematics solution program and carry out the singularity simulation,and the solution results were compared and verified with the data of the KUKA-KR210-2 robot teaching box.The results show that the kinematics data of the robot is basically consistent with the teaching box,the error is less than 1 mm,and the kinematics analysis is correct.The results of singularity analysis are consistent with the structural characteristics of the robot.The kinematics and singularity analysis results of the KUKA-KR210-2 robot provide technical support for the advanced motion control of the robot,and also provide reference for the kinematics and singularity analysis of the same type of industrial robots.

关 键 词：工业机器人技术 坐标系 运动学 奇异性 KUKA 

分 类 号：TH122[机械工程—机械设计及理论]