UR5机器人运动学及奇异性分析
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摘要
为了解决UR5机器人用户建立的机器人坐标系与厂家建立的机器人坐标系不一致,机器人内部有关力、角速度、角加速度等数据信息难以被直接使用的问题,在分析UR5机器人结构特点的基础上,建立与厂家数据匹配的坐标系。采用D-H参数法建立UR5机器人的运动学方程,描述机器人各杆件的相对位姿关系,依据UR5机器人满足Pieper准则的结构特性,采用分离变量法求取UR5机器人的运动学反解,并利用微分变换法完成UR5机器人奇异位形分析,奇异性分析与仿真结果表明了UR5机器人位置奇异时各关节变量之间的关系。使用MATLAB软件编写运动学程序,并利用机器人系统对程序进行实验室测试与工程实践验证,MATLAB运动学程序实验结果与UR5系统内部数据一致,验证了运动学分析的正确性。研究结果对进一步开展UR5机器人连续轨迹规划研究具有参考价值。
In order to solve the problem that the UR5 robot coordinate system established by the user is inconsistent with the manufacturer's,and the data related to the force,angular velocity,angular acceleration are difficult to be directly used,based on the analysis of the structural characteristics of the UR5 robot,the coordinate system matching the manufacturer's data is established.The kinematics equation of the UR5 robot is established by D-H method to describe the relationship of each joint.According to the structural characteristics satisfying the Pieper criterion of the UR5 robot,the kinematic inverse solution of the UR5 robot is obtained by the separation variable method.The singularity analysis of UR5 robot is completed by differential transformation method,and the singularity analysis and simulation results show the relationship between the joint variables of UR5 robot when the position is singular.The kinematics program is written by using MATLAB software,and the robot system is used to carry out laboratory test and engineering practice verification.The experimental results of MATLAB kinematics program are consistent with the internal data of UR5 system,which verifies the correctness of kinematics analysis.The research result has some reference for further research of UR5 robot continuous trajectory planning.
In order to solve the problem that the UR5 robot coordinate system established by the user is inconsistent with the manufacturer's,and the data related to the force,angular velocity,angular acceleration are difficult to be directly used,based on the analysis of the structural characteristics of the UR5 robot,the coordinate system matching the manufacturer's data is established.The kinematics equation of the UR5 robot is established by D-H method to describe the relationship of each joint.According to the structural characteristics satisfying the Pieper criterion of the UR5 robot,the kinematic inverse solution of the UR5 robot is obtained by the separation variable method.The singularity analysis of UR5 robot is completed by differential transformation method,and the singularity analysis and simulation results show the relationship between the joint variables of UR5 robot when the position is singular.The kinematics program is written by using MATLAB software,and the robot system is used to carry out laboratory test and engineering practice verification.The experimental results of MATLAB kinematics program are consistent with the internal data of UR5 system,which verifies the correctness of kinematics analysis.The research result has some reference for further research of UR5 robot continuous trajectory planning.
引文
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[2]骆敏舟,方健,赵江海.工业机器人的技术发展及其应用[J].机械制造与自动化,2015,44(1):1-4.LUO Minzhou,FANG Jian,ZHAO Jianghai.The development and the application of the industrial robot technology[J].Machine Building&Automation,2015,44(1):1-4.
[3]计时鸣,黄希欢.工业机器人技术的发展与应用综述[J].机电工程,2015,32(1):1-13.JI Shiming,HUANG Xihuan.Review of development and application of industrial robot technology[J].Journal of Mechanical&Electrical Engineering,2015,32(1):1-13.
[4]王梦.多自由度串联机器人运动学分析与仿真[D].北京:北京理工大学,2016.WANG Meng.Kinematic Analysis and Simulation of Multi-DOF Serial Robots[D].Beijing:Beijing Institute of Technology,2016.
[5]刘乃军,鲁涛,席宝,等.基于ROS的UR机器人遥操作系统设计[J].兵工自动化,2018,37(3):88-90.LIU Naijun,LU Tao,XI Bao,et al.Design of tele-operation system for ur robot based on ros[J].Ordance Industry Automation,2018,37(3):88-90.
[6]张付祥,蔡立强,李伟峰,等.成捆圆钢端面自动贴标系统设计[J].河北科技大学学报,2016,37(6):601-608.ZHANG Fuxiang,CAI Liqiang,LI Weifeng,et al.Design of automatic labeling system for the round steels end surfaces of a bundle[J].Journal of Hebei University of Science and Technology,2016,37(6):601-608.
[7]KEBRIA P M,AL-WAIS S,ABDI H,et al.Kinematic and dynamic modelling of UR5manipulator[C]//2016IEEE International Conference on Systems,Man,and Cybernetics(SMC).[S.l.]:Budapest,2016:4229-4234.
[8]张臻,邹小金,冯洋.UR机器人运动学控制与视觉抓取算法研究[J].机械设计与制造,2017(8):249-252.ZHANG Zhen,ZOU Xiaojin,FENG Yang.Research on ur robot kinematics control and visual grabbing algorithm[J].Machinery Design&Manufacture,2017(8):249-252.
[9]郭小宝,罗振军,赵振.UR机器人的运动学和奇异性分析[J].装备机械,2017(1):1-5.GUO Xiaobao,LUO Zhenjun,ZHAO Zhen.Kinematics and singularity analysis of ur robots[J].Equipment Machinery,2017(1):1-5.
[10]陈卓,苏卫华,李彬,等.串联机器人运动学分析及轨迹规划[J].医疗卫生装备,2018,39(1):5-10.CHEN Zhuo,SU Weihua,LI bin,et al.Kinematic analysis and trajectory planning of serial robot[J].Chinese Medical Equipment Journal,2018,39(1):5-10.
[11]李团结.机器人技术[M].北京:电子工业出版社,2009.
[12]王光建,廖志勇,陈雪华.机器人写字技术及其运动参数[J].重庆大学学报(自然科学版),2003,26(12):6-9.WANG Guangjian,LIAO Zhiyong,CHEN Xuehua.Robot writing technology and its motion parameters[J].Journal of Chongqing University(Natural Science Edition),2003,26(12):6-9.
[13]熊有伦.机器人技术基础[M].武汉:华中理工大学出版社,1996.
[14]曲海波.少自由度串联机器人构型综合与奇异分析[D].北京:北京交通大学,2008.QU Haibo.Structural Synthesis and Singularity Analysis of Low-DoF Serial Robot[D].Beijing:Beijing Jiaotong University,2008.
[15]王雪松,许世范,郝继飞.MOTOMAN机械手逆运动方程新的推导方法及求解[J].中国矿业大学学报,2001,30(1):75-78.WANG Xuesong,XU Shifan,HAO Jifei.New inferential method and efficient solutions for inverse kinematics equations of robot MOTO-MAN[J].Journal of China University of Mining&Technology,2001,30(1):75-78.
[16]张付祥,史文军.双臂液压钻车的逆运动学求解[J].机械设计与制造,2015(8):147-149.ZHANG Fuxiang,SHI Wenjun.Inverse kinematics solver of a 2-arm hydraulic drill carriage[J].Machinery Design&Manufacture,2015(8):147-149.
[17]CRAIG J J.机器人学导论[M].贠超,等译.北京:机械工业出版社,2013.
[18]于靖军,刘辛军,丁希仑,等.机器人机构学的数学基础[M].北京:机械工业出版社,2008.
[19]胡准庆,房海容,彭俊斌,等.机器人奇异性分析[J].机器人技术与应用,2001(6):32-35.HU Zhunqing,FANG Hairong,PENG Junbin,et al.Robot singularity analysis[J].Robot Technique and Application,2001(6):32-35.
[20]吕永军.六关节串联机器人机构奇异位形研究[D].沈阳:中国科学院研究生院(沈阳计算技术研究所),2016.LYU Yongjun.Research on Singularity of 6-Joint Series Robot Mechanism[D].Shenyang:University of Chinese Academy of Sciences(Shenyang Institute of Computing Technology),2016.
[21]刘蕾,曾辉,柳贺,等.六自由度机器人S型曲线速度规划[J].计算技术与自动化,2015,34(2):42-45.LIU Lei,ZENG Hui,LIU He,et al.S-curve velocity planning for 6-dof robot[J].Computing Technique and Automation,2015,34(2):42-45.
[22]MAHONEY A W A,BBOTT J J.Generating rotating magnetic fields with a single permanent magnet for propulsion of unte-thered magnetic devices in a lumen[J].IEEE Trans Robot,2014,30(2):411-420.