六自由度机械臂拾取路径规划

Pick-up Path Planning for 6-DOF Manipulator

针对六自由度机械臂,利用几何法建立其运动学模型,推导出各关节的驱动电机角度的逆解公式;然后在笛卡尔空间设计门字形拾取轨迹并进行规划。将空间轨迹先分解到各个坐标,得到空间各分坐标规划值,接着利用机械臂各驱动电机角度的逆解公式得到各电机的角度规划值,最后根据舵机控制原理得到各关节对应驱动舵机的脉冲规划值,并进行了相关试验。从试验结果来看,所做规划是有效的。

For the 6-DOF manipulator,the kinematics model is established by using the geometric method,and the inverse solution formula of the driving motor angle of each joint is deduced.Then the gate shape pick-up trajectory is designed and planned in Cartesian space.Firstly,the spatial trajectory is decomposed to each coordinate to obtain the planning value of each coordinate.Then,the angle planning value of each motor is obtained by using the inverse solution formula of the angle of each driving motor of the manipulator.Finally,according to the steering gear control principle,the pulse planning value of each joint corresponding to the driving steering gear is obtained,and the relevant experiments are carried out.From the test results,the planning is verified.