基于MATLAB的AUBO-i5协作机器人运动学分析与轨迹规划

Kinematics analysis and trajectory planning of AUBO-i5 cooperative robot based on MATLAB

针对AUBO-i5协作机器人在运动过程中的稳定性问题,利用D-H参数法对机械臂进行建模,并通过对机器人正逆运动学求解验证机器人模型的正确性。首先,选用五次多项式插值对机器人进行轨迹规划,得到的结果存在突变。其次,通过融合均匀五次B样条曲线对协作机器人轨迹进行优化,将首末节点的重复度定为k+1,使B样条曲线能够通过首末位置点,保证了优化的完整性。最终经过优化后的协作机器人关节角度、关节角速度和关节角加速度变化曲线连续且平滑,有效减少了协作机器人结构刚性差而造成的机械臂稳定性问题。

Aiming at the stability of the AUBO-i5 collaborative robot during the movement,this paper uses the D-H parameter method to model the robotic arm and verifies the correctness of the robot model by solving the forward and reverse kinematics of the robot.First,the fifth-degree polynomial interpolation is used to plan the robot trajectory and the results obtained are abrupt.Secondly,the trajectory of the collaborative robot is optimized by fusing a uniform quintic B-spline curve,the repetition degree of the first and last nodes is set to k+1,so that the B-spline curve can pass through the first and last position points,ensuring the integrity of the optimization.Finally,the optimized joint angle,joint angular velocity and joint angular acceleration of the collaborative robot are continuous and smooth,which effectively reduces the stability problem of the robotic arm caused by the poor structural rigidity of the collaborative robot.