工业机器人空间轨迹仿真分析

doi:10.16180/j.cnki.issn1007-7820.2020.10.005

摘要/Abstract

摘要：

机器人的建模与轨迹规划是机器人控制的基础。针对ABB_IRB120型工业机器人的结构特点,通过D-H法建立数学模型,运用蒙特卡洛法分析工作空间。文中采用MATLAB Robotics Toolbox对该型机器人进行运动学仿真和两点之间的点对点轨迹规划。针对Robotics Toolbox轨迹规划功能的局限性,通过二次开发,增加了循环算法,扩展该工具箱的轨迹规划应用范围,使模拟的机器人末端执行器能够生成连续的复杂空间运动曲线。最后对平面余弦曲线及空间螺旋曲线进行实时仿真,结果显示所生成的轨迹与设定轨迹基本吻合,运动参数有效性达到95.2%以上,证明了该算法的可行性和有效性。

关键词: 机器人, 轨迹规划, 运动学, 蒙特卡洛法, 机器人工具箱, D-H矩阵

Abstract:

Robot modeling and trajectory planning are the basis of robot control. For the structural of ABB_IRB120 industrial robot, the mathematical model is established by D-H method, and the workspace is analyzed by Monte Carlo method. The kinematics simulation of the robot and trajectory planning between two points are carried out by MATLAB Robotics Toolbox. Because of the limitations for the trajectory planning of Robotics Toolbox, it is redeveloped to increase a loop algorithm, extend the trajectory planning application ranges of this toolbox, and the robot effector is enabled to simulate the complex spatial curves. The real-time simulation experiments of the plane cosine curve and the spatial spiral curve show that the generated trajectory is consistent with the target trajectory, and the validity of the motion parameters is above 95.2%, which verifies the feasibility and effectiveness of the algorithm.

Key words: robot, trajectory planning, kinematics, Monte Carlo method, robotics toolbox, D-H matrix

中图分类号:

TP242.2

张凯翔,陈久朋,熊彬州,李奇,胡琼琼. 工业机器人空间轨迹仿真分析[J]. 电子科技, 2020, 33(10): 26-32.

ZHANG Kaixiang,CHEN Jiupeng,XIONG Binzhou,LI Qi,Hu Qiongqiong. Spatial Trajectory Simulation and Analysis of Industrial Robot[J]. Electronic Science and Technology, 2020, 33(10): 26-32.

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关节i	α_i/(°)	a_i/m	d_i/m	θ_i/(°)
1	-90	0.00	0.290	θ₁
2	0	0.27	0.000	θ₂
3	90	0.07	0.000	θ₃
4	-90	0.00	0.302	θ₄
5	90	0.00	0.000	θ₅
6	0	0.00	0.072	θ₆