多种方法的工业机器人轨迹规划与仿真

Multi-method Industrial Robot Trajectory Planning and Simulation

针对工业机器人运动过程中产生的冲击振动现象,提出采用多种方法进行运动轨迹规划。通过关节角度、角速度和角加速度随时间变化曲线来反映轨迹变化规律。基于HA006型机器人D-H参数建立MATLAB模型,针对空间轨迹规划问题采用三次、五次多项式插值、3-5-3混合多项式插值方法以及B样条插值优化五次多项式插值函数轨迹的新方法。结果表明,加速度曲线直接影响了运动过程中力的突变;B样条插值优化的轨迹在MATLAB软件中的仿真输出结果更加平滑,较好地消除了力的突变现象,能有效提高机器人运动质量和使用寿命,并为后续关节控制研究工作奠定基础。

Aiming at the shock and vibration phenomenon generated during the movement of industrial robots,a variety of methods for motion trajectory planning were proposed,and the trajectory change law was reflected through the joint angle,angular velocity and angular acceleration curve with time.Based on the D-H parameters of HA006 robot,MATLAB model was established,and the cubic,quintic polynomial interpolation,3-5-3 mixed polynomial interpolation method and B-spline interpolation optimization of the trajectory of the quintic polynomial interpolation function were used for the spatial trajectory planning problem.The results show that the acceleration curve directly affects the mutation of force during movement.The simulation output results the trajectory of B-spline interpolation optimization in MATLAB software has better smoothness and better eliminates the sudden mutation phenomenon of force.It can effectively improve the quality and service life of the robot movement and lay the foundation for subsequent joint control research.