基于六轴机器人的运动学分析与轨迹规划  

Kinematic Analysis and Trajectory Planning Based on Six Axis Robots

作　　者：吴珂 平学成[1,2] WU Ke;PING Xuecheng(College of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300222,China;Tianjin Key Laboratory of Integrated Design and Online Monitoring for Light Industry&Food Machinery and Equipment,Tianjin University of Science and Technology,Tianjin 300222,China)

机构地区：[1]天津科技大学机械工程学院,天津300222 [2]天津科技大学天津市轻工与食品工程机械装备集成设计与在线监控重点实验室,天津300222

出　　处：《组合机床与自动化加工技术》2024年第7期17-22,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51975411);天津市自然科学基金项目(18JCYBJC88500)。

摘　　要：为了进一步提高机械臂的工作效率以及保持运行轨迹的平稳、连续,对机器人进行运动学分析和时间最优轨迹规划。以大族E05协作机器人为研究对象,基于D-H参数法建立机器人运动学模型,并进行正、逆运动学分析,基于改进的粒子群算法对机械臂3-5-3分段多项式插值轨迹规划模型进行时间优化。通过MATLAB中机器人工具箱构建机械臂仿真模型,进行轨迹规划仿真实验。实验结果表明,机械臂逆运动学求解准确,轨迹规划算法可靠,轨迹规划时间较优化前缩短了53%,规划的运动轨迹平滑连续,无突变。To enhance the operational efficiency of the robotic arm and maintain a consistent and uninterrupted trajectory,it is necessary to undertake a kinematic analysis and time-optimal trajectory planning.This article focuses on the study of the Hans E05 collaborative robot,builds a robot kinematic model using the D-H parameter method,and performs both the forward and inverse kinematic analyses.Using the enhanced particle swarm optimization algorithm,this study optimizes the time for the 3-5-3 segmented polynomial interpolation trajectory planning model of the robotic arm.A simulation model of the robotic arm is constructed using the Robotics Toolbox in MATLAB,and trajectory planning simulation experiments are performed.The experimental results show a precise solution of the robotic arm′s inverse kinematics.The trajectory planning algorithm is dependable,and the planning time decreases by 53%compared to pre-optimization.The planned motion trajectory is smooth and continuous without sudden changes.

关 键 词：D-H参数法 粒子群算法 多项式插值 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG659[自动化与计算机技术—控制科学与工程]