Matlab环境下拖拽式焊接机器人的运动学仿真实验  

Kinematics simulation experiment of towed welding robot in Matlab environment

作　　者：才洋 于功志[1] CAI Yang;YU Gongzhi(Dalian Ocean University,Dalian 116023,CHN)

机构地区：[1]大连海洋大学,辽宁大连116023

出　　处：《制造技术与机床》2024年第3期22-30,共9页Manufacturing Technology & Machine Tool

摘　　要：将某ER系列拖拽式焊接机器人作为仿真实验对象,利用MDH(modified Denavit-Hartenberg)方法确定其DH参数,创建对应的关节坐标系与DH模型。基于Matlab软件中Tool-box10.4版本展开运动学分析求解。利用齐次变换矩阵顺次相乘完成运动学正解的推导,使用牛顿-拉夫逊迭代法(Newton-Raphson method)求解逆运动学方程的封闭解,验证了机器人运动学建模的合理性。在Matlab中完成了轨迹规划,在关节空间下对运动轨迹分别采用了三次、五次插值规划方法。完成了机械臂全局与限定条件下的工作空间分析,整体仿真结果充分证明了拖拽式焊接机器人运动性能的合理与稳定。该方案为进一步实验与研发工作奠定了理论基础,对同系列或构型机械臂有实际应用意义。The D-H parameters of an ER series towed welding robot were determined by MDH(modified Denavit-Hartenberg)method,and the corresponding joint coordinate system and DH model were created.The kinematics analysis is solved based on Tool-box 10.4 in Matlab software.The linear multiplication of the homogeneous transformation matrix is used to deduce the forward solution of the kinematics,and the closed solution of the inverse kinematics equation is solved by Newton-Raphson method,which verifies the rationality of the kinematics modeling of the robot.The trajectory planning is completed in Matlab,and the motion trajectory is programmed with cubic and quintic interpolation methods in joint space respectively.The work space analysis of the robot arm under global and limited conditions is completed,and the overall simulation results fully prove that the motion performance of the towed welding robot is reasonable and stable.This scheme lays a theoretical foundation for further experiments and research and development,and has practical application significance for the same series or configuration of robotic arms.

关 键 词：MATLAB 拖拽式焊接机器人 运动学仿真 轨迹规划 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]