基于M-20iD/35机器人的运动轨迹插值方法分析与仿真  

Analysis and Simulation Based on M-20iD/35 Robot Motion Trajectory Interpolation Method

作　　者：舒启林[1] 周希桐 崔丰 王佳乐 SHU Qilin;ZHOU Xitong;CUI Feng;WANG Jiale(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12期27-34,共8页Mechanical Engineer

摘　　要：为了保证弹体车削加工单元内工业机器人末端执行器在工作过程中保持运动轨迹连续、光滑且稳定,并避免运动过程中机器人各关节速度、加速度的突变状况对机器人各关节的冲击,采用改进的D-H参数法描述M-20iD/35的六自由度工业机器人各关节的空间坐标系,然后对其进行运动学逆解的求解。使用MATLAB机器人工具箱构建机器人运动学模型,分析了常用的对过路径点的轨迹三次多项式、“353”多项式的插值算法,并进行了仿真。采用“575”多项式插值算法,结合高阶多项式对路径点的轨迹运动进行分析,并通过仿真验证了该算法能使机器人各关节的速度、加速度变化更平稳,减少机构间的冲击,提高使用寿命。In order to ensure that the end effector of the industrial robot in the projectile turning processing unit maintains continuous,smooth,and stable motion trajectory during the working process,and to avoid the impact of the sudden change of the speed and acceleration conditions of each joint of the robot on each joint of the robot during the motion process,the spatial coordinate system of each joint of the six-degree-of-freedom M-20iD/35 industrial robot is described by using the improved D-H parameter method.Then its kinematic inverse solution is solved.And the robot kinematics model is constructed using the MATLAB robot toolbox.Commonly used interpolation algorithms using cubic polynomials and"353"polynomials passing over path points are analyzed and simulated.The"575"polynomial interpolation algorithm and high-order polynomials are used to analyze the trajectory motion of the path points,and the simulation verifies that the algorithm can make the speed and acceleration changes of each joint of the robot smoother,reduce the impact between the mechanisms,and improve the service life.

关 键 词：工业机器人 MATLAB 轨迹规划 插值算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]