书籍码垛机械臂运动规划方法研究  

Research on the motion planning method of book palletizing mechanical arm

作　　者：戴小标 邓正午[3] 祝豪 李滔 DAI Xiaobiao;DENG Zhengwu;ZHU Hao;LI Tao(School of Mechanical and Energy Engineering,Shaoyang University,Shaoyang 422000,China;Key Laboratory of Hunan Province for Efficient Power System and Intelligent Manufacture,Shaoyang University,Shaoyang 422000,China;International College,Shaoyang University,Shaoyang 422000,China)

机构地区：[1]邵阳学院机械与能源工程学院,湖南邵阳422000 [2]邵阳学院高效动力系统智能制造湖南省重点实验室,湖南邵阳422000 [3]邵阳学院国际学院,湖南邵阳422000

出　　处：《邵阳学院学报（自然科学版）》2024年第2期56-63,共8页Journal of Shaoyang University：Natural Science Edition

基　　金：湖南省自然科学基金项目(2022JJ50170)。

摘　　要：平稳性是机械臂码垛书籍的重要指标。基于MDH(modified denavit-harten-berg)参数法对六自由度书籍码垛机械臂进行建模,采用解析法推导其运动学逆解。对三次多项式插值、五次多项式插值和新型S形曲线加减速法的轨迹规划方法进行分析,利用MATLAB机器人工具箱进行运动仿真,得到单关节位移、速度和加速度曲线。对比分析运动曲线,发现新型S形曲线加减速法所规划的运动曲线最平滑。利用新型S形曲线加减速法轨迹规划六自由度机械臂,可获得非常平稳的末端轨迹。结果表明,新型S形曲线加减速轨迹规划方法非常平稳,更适合机械臂书籍码垛的作业任务。Stability is an important performance metric of book palletizing by a mechanical arm.In this paper,a 6-DOF book palletizing mechanical arm is modeled based on the MDH(Modified Denavit-Hartenberg)method,and its inverse solution is derived by the analytical method.Three trajectory planning methods,including cubic polynomial interpolation,quintic polynomial interpolation and new S-curve acceleration and deceleration control,are analyzed and simulated using MATLAB robot toolbox to obtain their single joint displacement,velocity and acceleration curves.By comparing and analyzing the motion curves,it is found that the new S-shaped curve acceleration and deceleration trajectory planning method is the smoothest.Using the new S-curve acceleration and deceleration method for trajectory planning of a 6-DOF manipulator,a very smooth end trajectory is obtained.The results indicate that the new S-shaped curve acceleration and deceleration trajectory planning method is very stable and more suitable for the task of robotic arm book palletizing.

关 键 词：书籍码垛 机械臂 轨迹规划 MATLAB机器人工具箱 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]