SCARA机器人运动学及轨迹规划研究

Research on Kinematics and Trajectory Planning of SCARA Robot

针对SCARA机器人在轨迹规划中存在轨迹不平滑和加速度不连续等问题,研究了其运动学建模和轨迹规划问题。采用D-H参数法和解析法构建了机器人正向和逆向运动学模型。分析了三次多项式插值算法与五次多项式插值算法的特点,在关节角度变化、速度变化和加速度变化的轨迹规划方面对这两种插值算法进行了比较。利用五次多项式插值算法研究了点对点(PTP)的轨迹规划问题。通过Robotics Toolbox工具箱仿真验证了建模方法的正确性。通过生成的曲线验证了机器人能平稳、安全运行的结论。

Aiming at the problems of track unevenness and acceleration discontinuity in trajectory planning of SCARA robot,the kinematics modeling and trajectory planning of SCARA robot were studied.The forward and reverse kinematics models of the robot were set up by D-H parameter method and analytical method.The characteristics of cubic polynomial interpolation algorithm and quintic polynomial interpolation algorithm were analyzed.The two interpolation algorithms were compared in trajectory planning of joint angle change,velocity change and acceleration change.The problem of point-to-point(PTP)trajectory planning was studied by quintic polynomial interpolation algorithm.The validity of the modeling method was verified by the simulation of Robotics Toolbox.The conclusion that the robot could run smoothly and safely was verified by the generated curve.