六自由度机械臂建模与MATLAB仿真

Modeling and MATLAB simulation of 6-DOF manipulator

目的依据预设的机器人末端运动轨迹,研究机器人各关节的运行轨迹。方法利用仿真软件对机器人末端轨迹进行仿真实验。以六自由度机器人为研究对象,采用标准D-H参数法建立机器人各连杆坐标系及计算运动学方程,利用MATLAB/Robotic Toolbox工具箱建立机器人的运动学模型,在运动学模型的基础上对机器人工作空间以及轨迹规划进行仿真。仿真结果为连续平稳的末端轨迹曲线和关节角位移、角速度、角加速度的变化曲线。结果得到了连续平稳的末端轨迹曲线和关节角位移、角速度、角加速度的变化曲线等仿真结果,轨迹仿真结果表明机器人各关节运动平稳性较好。结论轨迹仿真可以避免试验中对机械臂所产生的损坏,为后续实验研究工作的开展提供支持。

Purposes—To study the end trajectory of each joint of the robot according to the preset trajectory of the robot effector.Methods—The simulation software was used to simulate the end trajectory of the robot.Taking the 6-DOF robot as research object,the standard D-H parameter method is employed to establish the joint coordinate system of the robot and to calculate the kinematics equation.The kinematic model of the robot is established by gutilizing the MATLAB/Robotic Toolbox,and the robot workspace and trajectory planning are simulated on the basis of the kinematic model.Result—The simulation results such as continuous and stable end trajectory as well as variation curves of the joint displacement,angular velocity and angular acceleration are obtained.The simulation results of trajectory show that each joint of robot has good stability in motion.Conclusion—Trajectory simulation can avoid damage to the mechanical arm during the experiment and provide support for the follow-up experimental research work.