双臂机器人的轨迹规划研究与仿真

本文以Baxter双臂机器人为研究对象,借助三次多项式插值法、五次多项式插值法等关节变量空间轨迹规划方法,采用D-H法建立机器人的连杆坐标系,利用Robotics Toolbox构建运动学模型,仿真双臂机器人7个关节的角度轨迹曲线、速度曲线和加速度曲线。通过对比分析,具有6个约束条件的五次多项式插值法可以让加速度曲线不存在跳变,各关节运动轨迹更加平稳、连续,能够提升双臂机器人运动的平稳性、双臂协作能力,让其完成复杂的生产工作任务。

In this paper,the Baxter dual arm robot is taken as the research object.By means of joint variable space trajectory planning methods such as cubic polynomial interpolation and quintic polynomial interpolation,the D-H method is used to establish the linkage coordinate system of the robot,and the kinematics model is built by using the robotics toolbox to simulate the angle trajectory curve,velocity curve and acceleration curve of the seven joints of the dual arm robot.Through the comparative analysis,the quintic polynomial interpolation method with six constraints can make the acceleration curve without jump,and the motion track of each joint is more stable and continuous.It can improve the stability of the movement of the dual arm robot,the ability of cooperation between the two arms,and make it complete the complex production tasks.