基于MATLAB的六轴焊接机器人运动学仿真

Kinematics Simulation of Six-axis Welding Robots based on MATLAB

将某符合Pieper准则的六轴焊接机器人作为实验对象,利用SDH(Standard-Denavit-Hartenberg)方法确定其D-H参数,创建对应的关节坐标系与D-H模型。基于MATLAB软件中机器人工具箱10.4版本展开运动学仿真,利用齐次变换矩阵与解析法完成对机器人正逆运动学的分析求解,同时验证了机器人运动学建模的合理性。在MATLAB中完成了轨迹规划与优化,对算法进行了优化、差分与分析。规划方式分别采用了线性规划与关节空间规划。对运动轨迹分别采用了五次插值函数、三次插值函数、匀速优化的处理方法。通过上述实验将优化前后进行比对发现,角速度和角加速度曲线均无骤变现象且到达点位时为零,得到的末端执行器轨迹工整圆滑,充分证明了优化后焊接机器人运动性能的稳定。

A six-axis welding robot conforming to Pieper criterion was taken as the experimental object,and its D-H parameters were determined by using SDH(Standard-Denavit-Hartenberg)method,and corresponding joint coordinate system and D-H model were created.The kinematics simulation was carried out based on robot toolbox 10.4 version in MATLAB software.The forward and inverse kinematics of the robot were analyzed and solved by using the homogeneous transformation matrix and analytic method,and the rationality of the robot kinematics modeling was verified.The trajectory planning and optimization were completed in MATLAB,and the algorithm was optimized,differentiated and analyzed.Linear programming and joint space programming were adopted respectively about programming way.The motion trajectory was treated by quintic interpolation function,cubic interpolation function and uniform velocity optimization.By comparing before and after optimization through the above test,the angular velocity and angular acceleration curves had no sudden change and were zero when reaching the point,and the obtained end-effector trajectory was neat and smooth,which fully proved the stability of the motion performance of the optimized welding robot.