5-DOF机械臂运动学分析及运动轨迹规划

Kinematics analysis and motion trajectory planning of 5-DOF manipulator

基于D-H参数法构建机械臂运动学方程和模型,通过理论推导和仿真实验进行相关验证。根据蒙特卡洛法画出机械臂的空间点云图,给出机械臂的工作空间范围。采用五阶样条曲线在机械臂的关节空间坐标系进行路径规划,并通过Robotics Toolbox工具包给出各个关节的角度、角速度和角加速度的拟合曲线。在笛卡尔空间坐标系,构建运动轨迹基于时间律的运动基元,给出空间直线轨迹和空间圆弧轨迹的一般方程,并基于MoveIt!对机械臂的轨迹规划进行仿真实验。结果表明,得到的运动学模型和运动规划路径能够满足实际需求,为机器人的控制提供相应的支持。

Based on D-H parameter method,kinematics equation and model of manipulator were constructed,theoretical verification and simulation experiments were carried out to verify the correlation.According to the Monte Carlo method,the space point cloud diagram of the manipulator was drawn,and the workspace scope of the manipulator was given.The fifth order spline curve was used for path planning in the joint space coordinate system of the manipulator,and the fitting curves of angle,angular velocity and angular acceleration of each joint were given through the Robotics Toolbox.In the Cartesian space coordinate system,the motion element was constructed based on the time.The general equation of the space line trajectory and the space arc trajectory was given.The trajectory planning simulation of the manipulator was given Based on the MoveIt!.The results showed that the kinematics model and motion planning path can meet the actual needs and provide corresponding support for robot control.