摘要
工业的不断发展对机械臂的负载要求越来越高,而负载的增加会对机械臂末端的精度造成影响.本文以Franka七轴串联机械臂为对象,采用M-DH法和雅可比迭代法对其正、逆运动学展开分析;采用三次函数插值法进行关节空间的轨迹规划.基于拉格朗日方程建立了机械臂的动力学模型,并通过Admas和Simulink联合动力学仿真验证了动力学模型的有效性.最后基于定位控制,对末端位置误差收敛速率、负载质量、控制参数之间的关系展开研究.
The continuous development of industry has higher and higher load requirements for the robot arm,and the increase of load will affect the accuracy of the end of the robot arm.In this paper,the forward and inverse kinematics of a seven-axis serial manipulator are analyzed by M-DH method and Jacobi iteration method.The trajectory planning of joint space is carried out by cubic function interpolation method.A dynamic model of the manipulator is established based on Lagrange equation,and the effectiveness of the model is verified by numerical methods.Finally,based on the positioning control,the relationship between the convergence rate of the end position error,the load quality and the control parameters is studied.
作者
陈星宇
张舒
Chen Xingyu;Zhang Shu(School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)
出处
《动力学与控制学报》
2024年第2期100-110,共11页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(12072237)
中央高校基本科研业务费专项基金(22120220590)。
关键词
串联机械臂
负载
定位精度
动力学建模
控制补偿
serial manipulator
load
positioning accuracy
dynamic modeling
control compensation
