6R关节式机器人运动学仿真分析

Kinematics Simulation Analysis of 6R Articulated Robot

为研究PR05型号6自由度关节型机器人的运动性能和轨迹规划,运用D-H建模方法对该机器人建立运动学方程,并基于其变换矩阵中元素的特性,提出一种6自由度机器人运动学逆解优化算法,该算法只需进行一次矩阵逆乘,从而使计算过程简化,而后分析了该机器人的奇异状态位置;在Matlab Robotics Toolbox环境下,对该机器人进行仿真建模,并对其运动学正逆解和关节空间轨迹进行实例仿真,得到了机器人各个关节的动力学参数仿真曲线和运动轨迹数据,验证了所建立的机器人运动学模型正确以及正逆解算法的有效性,表明了该机器人运动性能良好,轨迹曲线平滑无波动。

In order to test the movement performance and trajectory planning of the PR05 model 6R articulated robot, the kinematics equations is established for the robot by using D-H modeling method. And based on the characteristics of the elements in the transformation matrix, an inverse kinematics optimization algorithm for 6R robots is proposed. The algorithm only needs a matrix inversion, which greatly simplifies the computation process. And then analyzes the robot＇s singular state position. In addition, the robot simu- lation model was set up in Matlab Robotics Toolbox, and the forward inverse kinematics and joint space trajectory examples were simulated calculated. Based on the simulation, the motion of the robot was ana- lyzed, the curvilinear figure and the datain different coordinate were obtained. The simulation proves that the robot kinematics model and the kinematics algorithm are right, and shows that the robot perform well and the trajectory curve is smooth and vibration less.