摘要
以IRB-460工业机器人为研究对象,针对其运动学建模及在笛卡尔空间和关节空间下的轨迹规划方法展开研究并进行对比。对机器人本体进行了机器人运动学分析,利用多项式轨迹插值算法进行了关键点间的轨迹规划,完成了重叠型码垛的作业流程。利用Robotics Toolbox完成了轨迹规划算法仿真,并进行了结果分析。仿真结果表明在关节空间下进行轨迹插补所得的路径点更为优化,所得的轨迹更为满足作业任务,具备合理性。
IRB-460 industrial robot is taken as the research object in this paper.Kinematics modeling and trajectory planning methods in Cartesian space and joint space are studied and compared.The kinematics of the robot body is analyzed,and the trajectory planning between key points is carried out by using polynomial trajectory interpolation algorithm,and the operation flow of overlapping palletizing is completed.Robotics Toolbox is used to simulate the trajectory planning algorithm,and the results are analyzed.The simulation results show that the path points obtained by trajectory interpolation in joint space are more optimized,and the trajectories obtained are more reasonable and satisfy the task.
作者
张程
张卓
ZHANG Cheng;ZHANG Zhuo(Zhuhai College of Jilin University,Zhuhai Guangdong 519041,China;Guangdong Polytechnic of Science and Technology,Zhuhai Guangdong 519041,China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第2期19-21,25,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
广东省青年创新人才项目(2018KQNCX348,2017GkQNCX014)
广东省本科高校高等教育教学改革项目(2017008)
吉林大学珠海学院创新能力培育工程项目(2018XJCQ038)
广东大学生创新创业教育研究中心项目(2018A104829)
