五自由度采摘机械臂关节空间轨迹规划

摘要

为了保证采摘机械臂能够快速准确完成采摘任务,根据其结构,采用D-H法建立坐标系,利用几何分析法推导其运动学模型和逆运动学解,在关节空间内进行了摆线运动轨迹规划,并采用Matlab工具对其规划轨迹进行仿真模拟,结果表明该规划方法不仅计算简单,而且使得机械臂运动平稳,无振动和过冲现象,同时满足其准确,快速完成采摘任务的要求.%To ensure picking manipulator can accurately and quickly complete picking task,a cycloid trajectory planning in joint space was developed based on manipulator structure.This planning was obtained by establishing coordinate system with DH method,creating kinematic model and inverse kinematic solution through geometrical analysis,and also using Matlab tool to simulate the planning trajectory.The results show that the planning method is simple to calculate,and it makes the robot arm movement smooth,without vibration and overshoot phenomena,which meets its accurate and rapid requirements to complete picking task.