物流装卸机器人运动学分析及碰撞检测研究  

Research on Kinematics Analysis and Collision Detection of Logistics Stacker Robot

作　　者：魏鹏 Wei Peng(Quanzhou HUST Research Institute of Intelligent Manufacturing,Quanzhou,Fujian 362000,China)

机构地区：[1]泉州华中科技大学智能制造研究院,福建泉州362000

出　　处：《机电工程技术》2023年第12期102-106,共5页Mechanical & Electrical Engineering Technology

基　　金：泉州市科技计划资助项目(2020CT005)。

摘　　要：针对一种物流装卸机器人进行深入探究。根据该机器人的尺寸参数进行运动学建模,从而实现对机器人运动过程的描述。为解决逆运动学问题,提出一种基于几何法的机器人求逆方法。在基坐标系下给定末端控制点的坐标和末端控制向量的方向,根据几何条件进行各关节角的解算。结合实际控制中对稳定性的需求,进一步求逆得到伺服液压缸的伸长量与角度之间的关系,以实现稳定控制。使用MATLAB进行仿真,验证所提出的逆运动学解法的可行性,并绘制机器人的可达范围图。采用包络法对机器人进行碰撞检测。研究结果为实现机器人末端的准确控制提供了运动学依据和方法。所提出的逆解方法可行可靠且实时性强,可达空间分析与碰撞检测研究为后续结构优化和路径规划提供了坚实的基础。A logistics stacker robot is studied deeply.According to the size parameters of the robot,the kinematics modeling is carried out to describe the movement process of the robot.In order to solve the inverse kinematics problem,a robot inverse method based on geometric method is proposed.The coordinates of the end control point and the direction of the end control vector are given in the base coordinate system,and each joint angle is calculated based on geometric conditions.Based on the stability requirements in practical control,the relationship between the elongation and angle of the servo hydraulic cylinder is further obtained through inverse analysis to achieve stable control.MATLAB is used to simulate,the feasibility of the proposed inverse kinematics solution is verified,and the reachable range diagram of the robot is drawn.The envelope method is also used to conduct collision detection on the robot.The research result provides the kinematics basis and method for realizing the accurate control of the robot end.The proposed inverse solution method is feasible,reliable and real-time.Reachable spatial analysis and collision detection research provides a solid foundation for subsequent structural optimization and path planning.

关 键 词：五自由度机器人 运动学 工作空间 碰撞检测 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]