马艳艳,曾台英,江海林.基于MATLAB的机械臂运动学分析和轨迹规划[J].包装工程,2023,44(3):187-193.
MA Yan-yan,ZENG Tai-ying,JIANG Hai-lin.Kinematics Analysis and Trajectory Planning of Manipulator Based on MATLAB[J].Packaging Engineering,2023,44(3):187-193. |
| 基于MATLAB的机械臂运动学分析和轨迹规划 |
| Kinematics Analysis and Trajectory Planning of Manipulator Based on MATLAB |
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| DOI：10.19554/j.cnki.1001-3563.2023.03.023 |
| 中文关键词: 六自由度机械臂 包装机械 轨迹规划 多项式插值法 |
| 英文关键词: 6-DOF manipulator packaging machinery trajectory planning polynomial interpolation method |
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| 中文摘要: |
| 目的 研究包装机械臂运动学和轨迹规划，以实现机器臂的平稳运行和精确控制。方法 以六自由度包装机械臂模型为研究对象，采用改进的D–H参数法建立坐标系，推导运动学方程，运用MATLAB搭建机械臂模型并进行正逆运动学仿真，以验证模型的正确性。其次，采用五次多项式插值算法对机械臂关节空间进行轨迹规划。最后，针对包装作业中待包装产品的定点抓取搬运任务进行轨迹规划和仿真。结果 搭建的机械臂模型正确，五次多项式插值法轨迹优化效果好，可保证各关节角度、速度和加速度曲线光滑连续;计算出抓取搬运任务中各关节的关节量，并得到了末端执行器运动轨迹曲线。结论 机械臂能以预期的运动精度完成抓取搬运的动作，为进一步探究机械臂的运动控制和实际应用奠定了基础。 |
| 英文摘要: |
| The work aims to study the kinematics and trajectory planning of packaging manipulator to achieve smooth operation and accurate control. With 6-DOF packaging manipulator model as research object, the coordinate system was established by the modified D-H parameter method, and the kinematics equation was deduced. Based on MATLAB, the manipulator model was built and direct and inverse kinematics simulation was carried out to verify the correctness of the model. Secondly, a quintic polynomial interpolation algorithm was used to plan the trajectory of joint space. In the end, the trajectory planning and simulation was carried out for the fixed-point grabbing and carrying tasks of the products to be packed in the packaging operation. The model of the manipulator was correct, and the trajectory optimization effect of the quintic polynomial interpolation method was good, which could ensure smooth and continuous angle, velocity and acceleration curves of each joint. The joint parameters in grabbing tasks were calculated and the trajectory curve of the end-effector was obtained. The manipulator can complete grabbing and carrying tasks with expected precision, which lays a foundation for further research on the motion control and practical application of the manipulator. |
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