6R工业机械手Adams中空间曲线位姿规划
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摘要
机械手空间轨迹和姿态的规划常采用插补计算完成,提出了一种以参数方程式表达的空间圆曲线为基础,通过离散计算空间圆曲线伏雷内标架,获取机械手末端工具在空间圆曲线离散点姿态,反解出卡尔丹角,并在Matlab进行拟合的方法,实现空间曲线轨迹和姿态规划。以川崎BA006N型6自由度机械手本体机构参数为依据,在Adams软件中构建机械手仿真平台,以空间圆参数方程和拟合后卡尔丹角参数方程为驱动函数,仿真分析表明,机械手末端工具能准确地跟踪空间圆曲线轨迹和姿态,从而利用Adams分别提取机械手6个关节的角位移、角速度、角加速度和力矩。该方法不仅避免了逆运动学计算,也为控制系统设计和其他空间曲线和曲面轨迹和姿态的规划提供了一种新方法。
The spatial trajectory and pose planning of manipulator is often completed by interpolation calculation. In order to realize spatial curve trajectory and pose planning, a kind of method is put forward that the pose of the eoat in discrete points of the spatial circular curve is obtained, and Cardan angles are worked out and fitted in Matlab by calculating discretely the Frenet frame of the spatial circular curve expressed by the parameter equation. Based on the parameters of the Kawasaki BA006N six degree of freedom manipulator body mechanism, a manipulator simulation platform is built in Adams. The driving functions including the spatial circle parameter equation and the fitting Cardan angle parameter equation are applied to the eoat as the general driver.The simulation analysis shows that the spatial circular curve trajectory and pose can be traced well by the eoat.The angular displacement, the angular velocity, the angular acceleration and the torque of the six joints of the manipulator are extracted by Adams. This method not only avoids the inverse kinematics calculation, but also provides a new method for the design of the control system and the planning of other spatial curves and surfaces.
The spatial trajectory and pose planning of manipulator is often completed by interpolation calculation. In order to realize spatial curve trajectory and pose planning, a kind of method is put forward that the pose of the eoat in discrete points of the spatial circular curve is obtained, and Cardan angles are worked out and fitted in Matlab by calculating discretely the Frenet frame of the spatial circular curve expressed by the parameter equation. Based on the parameters of the Kawasaki BA006N six degree of freedom manipulator body mechanism, a manipulator simulation platform is built in Adams. The driving functions including the spatial circle parameter equation and the fitting Cardan angle parameter equation are applied to the eoat as the general driver.The simulation analysis shows that the spatial circular curve trajectory and pose can be traced well by the eoat.The angular displacement, the angular velocity, the angular acceleration and the torque of the six joints of the manipulator are extracted by Adams. This method not only avoids the inverse kinematics calculation, but also provides a new method for the design of the control system and the planning of other spatial curves and surfaces.
引文
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[15]李瑞霞,李粉霞,杨洁明,等.基于D-H法的串联机械手臂工作空间分析[J].机床与液压,2015(21):70-73.
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[2]李黎,尚俊云,冯艳丽,等.关节型工业机器人轨迹规划研究综述[J].计算机工程与应用,2018,54(7):36-50.
[3]季晨.工业机器人姿态规划及轨迹优化研究[D].哈尔滨:哈尔滨工业大学,2013:32-41.
[4]王奇志,尹朝万.Puma机械手逆运动方程新的推导方法及求解[J].机器人,1998,20(2):81-87.
[5]李宏胜,汪允鹤,张伟,等.工业机器人NURBS自由曲线的轨迹规划[J].信息与控制,2017,46(2):129-135.
[6]沈雅琼,叶伯生,熊烁.基于齐次变换矩阵的机器人轨迹规划方法[J].组合机床与自动化加工技术,2014,1(1):5-9.
[7]林威,江五讲.工业机器人笛卡尔空间轨迹规划[J].机械工程与自动化,2014,186(5):141-143.
[8]周苑.基于改进性遗传算法的Bezier曲线笛卡尔空间轨迹规划[J].上海电机学院学报,2012,15(4):237-240.
[9]李宏胜,汪允鹤,黄家才,等.工业机器人倍四元数轨迹规划算法的研究[J].中国机械工程,2016,27(20):2711-2716.
[10]梅向明,黄敬之.微分几何[M].北京:高等教育出版社,2007:33-35.
[11]曾翠华,张纯忠,杨军.基于弗莱纳-雪列空间矢量的焊接离线编程路径规划[J].焊接技术,2011(7):44-48.
[12]张劲夫,秦卫阳.高等动力学[M].北京:科学出版社,2004:53-54.
[13]CRAIG J.机器人学导论[M].贠超,译.北京:机械工业出版社,2005:31-32.
[14]罗治国.空间圆的参数方程及其应用[J].湖南师范大学自然科学学报,2012(6):24-26.
[15]李瑞霞,李粉霞,杨洁明,等.基于D-H法的串联机械手臂工作空间分析[J].机床与液压,2015(21):70-73.
[16]张翔,李立君,易春峰,等.基于D-H法油茶果采摘机器人正运动学分析[J].农机化研究,2014(4):25-28.