發(fā)布時(shí)間：2018-12-16 10:39

【摘要】：工業(yè)機(jī)器人是現(xiàn)代制造業(yè)重要的自動(dòng)化裝備。隨著自動(dòng)化控制和制造技術(shù)的發(fā)展,工業(yè)機(jī)器人的應(yīng)用場(chǎng)合越來(lái)越多,對(duì)機(jī)器人運(yùn)動(dòng)的軌跡要求也越來(lái)越嚴(yán)格,除了更高的精度還需要更高的平滑性,以此降低對(duì)機(jī)器人的損壞程度。本文研究的主要內(nèi)容是基于平滑性的工業(yè)機(jī)器人軌跡規(guī)劃算法和程序?qū)崿F(xiàn)。主要研究成果如下:首先,根據(jù)機(jī)器人連桿參數(shù)建立D-H模型,研究運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)原理,給出機(jī)器人的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)方程的求解;根據(jù)機(jī)器人運(yùn)動(dòng)學(xué)逆解方程在Matlab上編寫(xiě)逆解程序,結(jié)合機(jī)器人工具箱Robotics Toolbox提供的正運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)函數(shù),對(duì)機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)仿真。其次,分別研究機(jī)器人關(guān)節(jié)空間和笛卡兒空間的軌跡規(guī)劃,對(duì)實(shí)現(xiàn)關(guān)節(jié)空間和笛卡兒空間軌跡規(guī)劃的平滑性的方法進(jìn)行研究和分析;利用Matlab圖形用戶界面設(shè)計(jì)工具,結(jié)合機(jī)器人工具箱Robotics Toolbox的函數(shù)包以及所編寫(xiě)的軌跡規(guī)劃算法程序,設(shè)計(jì)和開(kāi)發(fā)了一個(gè)機(jī)器人運(yùn)動(dòng)仿真系統(tǒng),創(chuàng)建機(jī)器人對(duì)象分別進(jìn)行關(guān)節(jié)空間和軌跡規(guī)劃的仿真和分析。最后,在傳統(tǒng)的關(guān)節(jié)空間軌跡規(guī)劃和笛卡兒空間軌跡規(guī)劃方法的基礎(chǔ)上,提出一種多約束條件下的軌跡規(guī)劃迭代算法,這種算法能同時(shí)滿足機(jī)器人在笛卡兒空間和關(guān)節(jié)空間的速度和加速度要求。該算法采用離散化的方法,讓機(jī)器人每個(gè)運(yùn)動(dòng)周期在滿足末端執(zhí)行器在笛卡兒空間的路徑約束、速度約束、加速度約束以及關(guān)節(jié)的速度和加速度約束的多約束條件下,盡可能以最大速度運(yùn)動(dòng)。然后在Matlab上編寫(xiě)該算法程序并進(jìn)行仿真和分析。仿真結(jié)果表明,這種算法實(shí)現(xiàn)了機(jī)器人多約束條件下的軌跡規(guī)劃平滑性,而且在滿足約束條件下使機(jī)器人運(yùn)動(dòng)時(shí)間近似最優(yōu)化。
[Abstract]:Industrial robot is an important automation equipment in modern manufacturing industry. With the development of automation control and manufacturing technology, industrial robots have more and more applications, and the requirements of robot motion trajectory are becoming more and more strict, besides higher accuracy and higher smoothness, In order to reduce the degree of damage to the robot. The main content of this paper is the algorithm and program realization of industrial robot trajectory planning based on smoothness. The main research results are as follows: firstly, the D-H model is established according to the parameters of the robot connecting rod, the kinematics and dynamics principles are studied, and the kinematics and dynamics equations of the robot are solved. According to the inverse kinematics equation of the robot, the inverse solution program is written on Matlab. Combined with the positive kinematics and dynamics function provided by the robot toolbox Robotics Toolbox, the kinematics and dynamics simulation of the robot is carried out. Secondly, the trajectory planning of robot joint space and Cartesian space is studied, and the smoothing method of joint space and Cartesian space trajectory planning is studied and analyzed. A robot motion simulation system is designed and developed by using the Matlab graphical user interface design tool, the function package of the robot toolbox Robotics Toolbox and the trajectory planning algorithm program. The robot object is created to simulate and analyze the joint space and trajectory planning respectively. Finally, based on the traditional trajectory planning methods of joint space and Cartesian space, an iterative algorithm for trajectory planning with multiple constraints is proposed. This algorithm can meet the speed and acceleration requirements of the robot in both Cartesian space and joint space. In this algorithm, the discretization method is used to make the robot move under the conditions of satisfying the path constraint, velocity constraint, acceleration constraint of the end actuator in Cartesian space and the velocity and acceleration constraints of the joint. Move as fast as possible. Then the algorithm program is written on Matlab and simulated and analyzed. The simulation results show that the proposed algorithm can achieve the smoothness of trajectory planning under the condition of multiple constraints, and make the robot motion time approximate optimization under the condition of satisfying the constraint conditions.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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