铣削加工机器人旋量建模及几何求逆优化

Rotation modeling and geometric inverse optimization of milling robot

为了提高机器人在铣削加工应用中的性能,将旋量理论应用于铣削加工机器人的建模中。针对仿真过程中逆解计算太慢的问题,提出了一种改进几何法对求逆过程进行优化。该方法以库卡KR60铣削加工机器人为例,考虑铣削加工位置相对固定,忽略了机器人前三个关节引起的逆解变化,从而简化了逆解的求取。仿真结果表明,经过改进后的几何法相对MATLAB软件自带求逆方法能够极大提高运算效率,减少仿真时间。

In order to improve the performance of the robot in the milling application,the screw theory was applied to the modeling of the milling robot.In order to solve the problem that the calculation of the inverse solution is too slow in the simulation process,an improved geometric method was proposed to optimize the inversion process.According to the geometric structure of the KUKA KR60 milling robot,the method considers that the milling position is relatively fixed,and ignores the inverse solution changes caused by the first three joints of the robot.The simulation results show that the improved geometric method can greatly improve the computing efficiency and reduce the simulation time compared with the inverse method of MATLAB.