多自由度机械臂关节运动控制研究  

Research on joint motion control for multi-degree-of-freedom manipulator

作　　者：李美强 马庆禄[1] 闫浩 余腾伟[2] LI Meiqiang;MA Qinglu;YAN Hao;YU Tengwei(School of Traffic and Transportation,Chongqing Jiaotong University,Chongqing 400074,China;School of Mechantronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学交通运输学院,重庆400074 [2]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《机械强度》2025年第2期147-158,共12页Journal of Mechanical Strength

基　　金：交通工程应用机器人重庆市工程实验室2022年度开放课题(CELTEAR-KFKT-202301);国家自然科学基金项目(52072054);重庆市技术创新与应用发展专项重点项目(cstc2021jscx-cylh0026)。

摘　　要：机械臂结构具有高度非线性和强耦合等特点,高精度运动控制一直是国内外学者关注的热点问题。以AR4机械臂为研究对象,对机械臂控制影响较大的正、逆运动学进行系统的分析,确定机械臂相应结构参数,利用D-H法求解机械臂正、逆运动学数值计算模型。针对机械臂在空间运动中关节卡顿产生的抖动现象,采用三次样条插值算法进行优化。在笛卡儿空间规划中采用直线插补法减少末端执行器运动距离,通过Matlab仿真得出具体规划点,满足设计要求。最后,利用SolidWorks建立机械臂的三维模型并生成统一机器人描述格式(Unified Robot Description Format,URDF)模型,使用MoveIt进行实际机械臂在关节空间和笛卡儿空间的轨迹规划,通过RViz展示运动过程。试验结果表明,加入三次样条插值算法后,机械臂关节电动机能够保持稳定的运转,相对于无三次样条插值算法,关节轨迹曲率分别降低了15.4%、35.6%、21.3%、26.8%、18.98%和45.7%,有效解决了关节运动过程中的抖振问题,实现了机械臂平稳运动。The structure of the manipulator has the characteristics of high nonlinearity and strong coupling,and high-precision motion control is a hot topic of concern for scholars.The AR4 manipulator was used as the research object to systematically analyze the forward and inverse kinematics that greatly impact the control of the manipulator,determining the manipulator’s corresponding structural parameters.And the D-H method was used to solve the numerical calculation model of the manipulator forward and inverse kinematics.The cubic spline interpolation algorithm was used to optimize the manipulator's jitter phenomenon in the joint space.In Cartesian space planning,the linear interpolation method was used to reduce the end effector’s motion distance.The specific planning points were obtained by Matlab simulation,meeting the design requirements.Finally,the SolidWorks was used to establish a three-dimensional model of the manipulator and generate an unified robot description formatc(URDF)model.The actual trajectory of the manipulator in joint and Cartesian space was planned according to MoveIt,and through RViz,the movement process was displayed.The results show that after adding the cubic spline interpolation algorithm,the joint motors of the manipulator can maintain stable operation,and the joint trajectory curvature is respectively reduced by 15.4%,35.6%,21.3%,26.8%,18.98%and 45.7%,which effectively solves the jitter vibration problem during joint movement and achieves smooth motion of the manipulator.

关 键 词：六自由度机械臂 正逆运动学 三次样条插值 运动控制 

分 类 号：TP241.1[自动化与计算机技术—检测技术与自动化装置]