机器人运动学逆解及笛卡尔空间轨迹规划.pdf

摘要随着现代制造业的发展,工业机器人已经成为不可或缺的重要设备,其应用已深入到各个行业中。在工业机器人控制系统中,实时运动学逆解和轨迹规划插补算法是实现机器人高速高精度运动的基础和关键。本文以ABB公司的IRB260 0型机器人为研究对象, 提出了一种有别于传统解析算法的机器人运动学逆解方法,并对笛卡尔空间轨迹规划和插补方法进行了研究。在建立正运动学模型的基础上,不需要经过复杂的处理,直接根据 IRB2600 型机器人位姿分离的结构特点进行逆运动学求解,逆解过程完全避免了矩阵求逆和 4×4 维矩阵相乘的运算,过程简单直观,因此,比一般的解析算法更加简单高效,便于实时控制。此外,对逆解过程中奇异和多解问题的处理也做了详细分析,并使用 ADAMS 仿真,验证了逆解算法的正确性。研究机器人笛卡尔空间直线、圆弧、一般空间轨迹和姿态的规划与插补方法,通过使用轨迹曲线的参数方程进行插补运算,实现 TCP 沿规划轨迹的运动速度控制,并用 MATLAB 对轨迹和姿态的规划与插补方法进行验证。最后,通过 MATLAB 与ADAMS 的联合仿真,实现了机器人轨迹规划插补与运动学逆解算法的联合验证。关键词: 工业机器人, IRB2600 ,逆运动学,轨迹规划 Abstract With the development of modern manufacturing, industrial robot has e indispensable equipment and its application has already rated into various the control system of industrial robot,real-time inverse kinematics and trajectory planning algorithm are the keys to the robot's accuracy when moving in high speed. Based on the IRB2600 robot,This thesis proposed a novel inverse kinematics algorithm and studied the trajectory planning and interpolating method in Cartesian space. Owing to the position and posture separation structure of the IRB2600 robot,this inverse kinematics algorithm uses the forward kinematics model directly to get the trigonometric function equations of the six joint angles plicated algorithm avoids using the inverse matrix and 4×4 dimension matrix pletely,so it's simpler and more suitable for fast robot pared with the conventional analytic methods. More over,multi-solutions and singularity analysis are also ADAMS simulation result indicates that this method is effective. The Cartesian space trajectory planning and interpolating methods for straight line,arc, general spatial trajectory and posture are the trajectory's parametric equation in interpolating,TCP speed along the trajectory can be trajectory planning and interpolating methods are verified by MATLAB simulation. Finally, the co-verify of trajectory planning,interpolating and inverse kinematics al