基于MATLAB的六轴机械臂运动学分析与验证

Kinematics Analysis and Verification of Six Axis Manipulator based on MATLAB

针对Hyundai-Hs220型六轴机械臂,采用改进D-H建模法建构机器人关节坐标系,分析并推导了正逆运动学方程,基于MATLAB平台及机器人工具箱在仿真环境下构建机器人模型,分别对正逆运动学方程进行仿真和计算,并验证了运动学方程的正确性.在关节空间内进行轨迹规划的实验,得到了各关节连续平稳的运动曲线,为后续进行轨迹规划控制奠定了理论基础.

For the hyundai-hs220 six axis manipulator,the improved D-H modeling method was used to construct the robot joint coordinate system,the forward and inverse kinematics equations were analyzed and deduced,the robot model was constructed in the simulation environment based on MATLAB platform and robot toolbox,the forward and inverse kinematics equations were simulated and calculated respectively,and the correctness of the kinematics equations was verified.In the experiment of trajectory planning in joint space,the continuous and stable motion curves of each joint are obtained,which lays a theoretical foundation for the follow-up trajectory planning control.