六轴机器人的运动学建模与轨迹规划研究

Research on kinematic modeling and trajectory planning of six-axis robot

以PUMA560机器人为研究对象,对该型号机器人进行运动学分析。首先通过建立运动学模型来求解机器人的正、逆运动学方程。其次运用三次多项式插值、五次多项式插值以及五段位置S曲线插补这三种方法来对该机器人进行轨迹规划。将这三种方法进行分析比较,最终得出五段位置S曲线插补轨迹规划方法可以使机器人运行较稳定,运动特性也较好,进而可以快速平稳地到达期望位姿,最终完成指定任务。

Taking PUMA560 robot as the research object,kinematics analysis of this model robot is carried out.Firstly,a kinematics model is established to solve the forward and inverse kinematics equations of the robot.Secondly,three methods(cubic polynomial interpolation,quintic polynomial interpolation and five-segment s-curve interpolation)were used to plan the robot’s trajectory.The three methods are analyzed and compared,and finally it is concluded that the five-segment position S curve interpolation trajectory planning method can make the robot run more stable and have better motion characteristics,so that it can reach the desired pose quickly and smoothly,and finally complete the assigned task.