基于MATLAB的M-20iD/35机器人运动学仿真与轨迹规划  

M-20iD/35 Robot Kinematics Simulation and Trajectory Planning Based on MATLAB

作　　者：崔丰 舒启林[1] CUI Feng;SHU Qilin(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159

出　　处：《机械工程师》2024年第9期35-39,共5页Mechanical Engineer

摘　　要：为了实现弹体车削加工单元的自动上下料路径的优化,针对典型六自由度的发那科M-20iD/35型工业机器人的运动轨迹进行了研究,根据改进D-H参数描述机器人的空间坐标系位置及连杆的参数,进一步对机器人正、逆运动学分析求解;基于MATLAB Robotics Toolbox建立机器人仿真模型并得出仿真结果及参数变化的可视化曲线图像,分析验证其数学模型的正确性;最后利用五次多项式对上下料机器人发那科M-20iD/35进行工作空间的轨迹规划,得到连续且平滑的轨迹曲线。仿真结果表明,研究得到的机器人轨迹运行平稳,各关节性能状态良好。To realize trajectory optimization of automatic loading and unloading of the projectile turning processing unit,this paper studies the motion trajectory of the FANUC M-20iD/35 industrial robot with typical six-degree-of-freedom,and describes the spatial coordinate system position of the robot and the parameters of the connecting rod according to the improved D-H parameters,and further analyzes and solves the positive and inverse kinematics of the robot.Based on MATLAB Robotics Toolbox,the robot simulation model is established and the visualization curve image of the simulation results and parameter changes is obtained,and the correctness of the mathematical model is verified by analysis.Finally,the quintic polynomial is used to plan the trajectory of the working space of the loading and unloading robot FANUC M-20iD,and a continuous and smooth trajectory curve is obtained.The simulation results show that the trajectory of the robot is running smoothly and the performance of each joint is good.

关 键 词：改进D-H参数 MATLAB仿真 机器人工具箱 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]