工业机器人空间轨迹仿真分析

doi:10.16180/j.cnki.issn1007-7820.2020.10.005

Abstract

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

CLC Number:

TP242.2

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.

Figures/Tables 12

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References 18

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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

Spatial Trajectory Simulation and Analysis of Industrial Robot

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