5-DOF仿人型机械臂关节空间轨迹规划研究

摘要

In this paper, the 5-DOF humanoid robot arm is taken as the research object, and the trajectory planning method of industrial robot is discussed. The kinematics of the manipulator is analyzed in this paper, and the kinematics model of manipulator is established. Based on the key points of the task, a trajectory planning method based on joint space five polynomial interpolation algorithm is designed. By using the Ro-botics Toolbox toolbox, the virtual modeling of the manipulator and the simulation of joint space trajectory planning are carried out. This method can be applied to the trajectory planning of industrial robot, which is of great theoretical and practical significance for the further study of industrial robot control system.%文章以5-DOF仿人型机械臂为研究对象,讨论了工业机器人轨迹规划方法及相关问题.对该机械臂进行了运动学分析,建立了机械臂运动学方程,并针对典型搬运作业方式,以距离最优为目标选取空间梯形路径关键点,设计了基于关节空间五项多项式插值算法的轨迹规划方法,利用Robotics Toolbox工具箱进行机械臂虚拟建模及关节空间轨迹规划仿真.经验证,相对于传统矩形路径作业方式,该方法可以更好完成工业机器人搬运作业的轨迹规划问题,对进一步结合工艺参数研究工业机器人控制系统具有必要的理论及实践意义.