四自由度码坯机器人轨迹规划与仿真研究

Trajectory planning and simulation study for Four-DOF palletizing robot

以四自由度码坯工业机器人为研究对象,采用D-H法建立机器人各连杆坐标系,根据各连杆的位置关系,经过矩阵变换,获得其运动学的正解和逆解,研究关节空间内码坯机器人的三次多项式轨迹规划,进行Matlab环境下轨迹规划仿真,获得关节角﹑角速度和角加速度随时间变化的曲线。通过仿真结果的分析,验证轨迹规划的可行性、合理性和准确性,保证码坯机器人的平稳运行。

The four degree of freedom palletizing robot was studied as the object. The Denavit-Hartenberg notation was applied in establishing the link coor- dinates. According to the relationship of each link, the forward and inverse kinematics were got after matrix transformation. The cubic polynomial trajectory planning of palletizing robot in joint space was studied. The trajectory planning and simulation based on Matlab was done, and the curves of joint angle, an- gular velocity and angular acceleration were got. Through analyzing the simulation results, the feasibility, reasonableness and accuracy of the trajectory plan- ning were verified, which ensures the smooth running of the palletizing robot.