喷涂机器人运动学与轨迹规划算法研究

摘要

文章针对6自由度喷涂机器人的机构特点和作业要求进行了深入分析,进而对其运动控制算法进行了研究.首先,通过MDH法对机械臂构建了关节坐标系;其次,对喷涂机器人进行了运动学模型的建立与分析,从正逆两个方面对运动学特性进行了详细的分析和描述;再次,对喷涂机构采用迭代法进行了逆解算法的研究与论述并分析了喷涂机器人轨迹规划的特点,给出了规划器的形式;最后,通过MATLAB仿真软件对运动学算法的有效性进行了验证,同时验证了该算法在轨迹跟踪时的精确性.%In this paper, the mechanism and operating requirements of 6 DOF painting robots are analyzed, and the motion control algorithm is studied. Firstly, the joint coordinate system is constructed by MDH method. Secondly, the kinematics model of the painting robot is established and analyzed. The kinematics characteristics are analyzed and described from two aspects. Finally, the validity of the kinematics algorithm is verified by MATLAB simulation software. At the same time, the effectiveness of the algorithm is verified by the MATLAB simulation software. At the same time, the effectiveness of the algorithm is verified. At the same time, And the accuracy of the algorithm in trajectory tracking is verified.