机械手臂抓取轨迹精度测试仿真分析

Simulation analysis of accuracy test for mechanical arm grab trajectory

针对机器人手臂的应用环境状况复杂、干扰因素较多,现有的机械手臂抓取轨迹精度测试算法存在划分空间上的繁琐问题,通过对六自由度机械臂做固定的假设和符号定义,建立机械手臂连杆坐标系,运用有效地分析抓取过程的运动轨迹,计算各段运动轨迹的端点。求取机器手臂所在的角度区域,获取坐标原点到最后目标点的运动距离,完成轨迹精度测试。结果表明:该算法能够较好地获取机械手臂的运动轨迹参数,验证该轨迹精度测试算法的可行性和有效性。

Due to there are complex application environmental conditions and interference factors for the robot arm,the space division is complex for the accuracy test algorithm of existing mechanical arm grab trajectory.For solving this problem,the authors supposed that six-freedomdegree mechanical arm is a constant,defined relative symbols,established connecting rod coordinate for mechanical arm,effectively used the trajectory of the scraping process,and calculated each trajectory endpoint.The angle area of the robot arm was calculated,the movement distance from the coordinate origin to the target was obtained,and tracking accuracy test wad realized.Experimental results show that the algorithm could obtain better mechanical arm trajectory parameters,trajectory accuracy was verified by testing the feasibility and effectiveness of the algorithm.