研究了不同空间轨迹曲线对激光跟踪仪、视觉测量设备等影响,以规划标准路径,保证经济、高效且高精度。以工业机器人为研究对象,建立机器人Denavit-Hartenberg(D-H)参数模型,对其结构和连杆参数进行分析,推导运动学方程,利用MATLAB Robotics toolbox分析验证机器人正、逆向运动学的正确性。在工业机器人运动学模型的基础上进行轨迹规划,分析了在关节空间和笛卡尔空间的轨迹规划方法,在MATLAB Robotics toolbox环境下对三次和五次多项式插值法等多种不同轨迹进行仿真,得出在关节空间中采取高次多项式插值法进行标准轨迹规划的初步结论,验证了关节轨迹的平顺性,保证测量设备的速度和连续性。为后续研究轨迹对不同测量设备的影响,规划标准路径进行测量设备的溯源提供理论基础。
Abstract
Under the background of the research on traceability technology of pose measurement equipment, a standard path should be planned to reflect the difference of measurement under the same condition. And in order to design the standard path which has the economic rationality, high efficiency and high accuracy, the influences of different spatial trajectory curves on measuring equipment should be studied, such as laser tracker and visual measurement equipment. The industrial robot was took as the research object, the D-H parameter model of the robot was established, the structure and connecting rod parameters were analyzed, and kinematics equations were derived. The correctness of forward and reverse kinematics of the robot were verified using MATLAB robotics toolbox. The trajectory planning methods were analyzed and simulated in joint space and cartesian space on the basis of the industrial robot kinematics model, such as three times polynomial interpolation method and five times polynomial interpolation method. Through a series of simulations, it is concluded that the method of higher degree polynomial interpolation in joint space for standard trajectory planning can be used. The simulation images can also verify the smooth joint trajectory and ensure the speed and the continuity of the measurements. The analysis and simulations provided the theoretical foundation for the further study of trajectory on the influence of different measuring equipment and standard path planning.
关键词
计量学 /
工业机器人 /
轨迹规划 /
高次多项式插值法 /
关节空间
Key words
metrology /
industrial robots /
trajectory planning /
high degree polynomial interpolation /
joint space
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基金
国家重点研发计划(2018YFF0212700)
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