ABB-IRB120运动学分析及轨迹规划研究  

Kinematics Analysis and Trajectory Planning of ABB-IRB120

作　　者：李志梅[1] 阮殿旭[1] 魏本建[1] Li Zhimei;Ruan Dianxu;Wei Benjian(Shazhou Professional Institute of Technology,Zhangjiagang 215600,Jiangsu,China)

机构地区：[1]沙洲职业工学院,江苏张家港215600

出　　处：《沙洲职业工学院学报》2023年第2期1-8,共8页Journal of Shazhou Professional Institute of Technology

基　　金：2022年沙洲职业工学院青年教师科研基金项目“智能制造生产线实训平台的设计与实现”(JJ2022B01);2023年江苏高校“青蓝工程”资助项目(苏教师函﹝2023﹞27号)。

摘　　要：基于刚体运动齐次变换理论,应用Craig的改进D-H参数法对ABB-IRB120进行了正逆运动学建模,然后利用MATLAB Toolbox构建了三维数学模型,并采用五次多项式进行插值,最终得到了连续平滑的六自由度机械手IRB120的各关节角位移、角速度、角加速度,以及末端位置、姿态随时间变化曲线,验证了运动学模型建立的合理性和正确性,为串联工业机械手的运动学研究提供了一定的理论参考。Based on the homogeneous transformation theory of the rigid body motion,the forward and inverse kinematics models of ABB-IRB120 is established by means of the modified D-H parameter method.Then,the three-dimensional mathematical model is built by means of MATLAB Toolbox,and the trajectory planning is carried out through quintic polynomial interpolation.Finally,the continuous smooth curves of each joint angular displacement,angular velocity and angular acceleration,as well as the end position and attitude,of the 6-DOF manipulator are obtained,which verifies the rationality and correctness of the establishment of the kinematic model,and provides a certain theoretical basis for the kinematic research of the tandem industrial manipulator.

关 键 词：ABB-IRB120 MDH参数法 正逆运动学 轨迹规划 MATLAB编程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]