一种五自由度混联机器人轨迹规划研究

摘要

以一种五自由度混联机器人为研究对象,采用矢量法和空间几何解析法分别建立了机器人并联部分和串联部分位置正反解的封闭解模型,在关节空间中利用五次多项式插值算法对机器人进行轨迹规划,并在给定运动插值时间和过预设路径点的条件下,通过MATLAB软件仿真绘制五次多项式插值运动规律下机器人的运动学图像.仿真结果显示,采用五次多项式插值算法保证了机器人有连续光滑的位置、速度和加速度曲线,为该机器人进一步针对轨迹控制研究奠定了理论基础.%Taking 5-DOF serial-parallel robot as the research object,the closed-form inverse and direct position kinematics of the parallel part and the serial part are developed by using vector chain method and analytical method respectively.Then,the trajectory of this robot in joint space is planned by quintic polynomial interpolation algorithm.Finally,considering the conditions of both given interpolation time and passing path points,the kinematics images of this robot in the characteristics of this motion are presented via MATLAB simulation.For simulation results,it is shown that using the quintic polynomial interpolation algorithm could make sure the smoothness of displacement curves,velocity curves and accelerated velocity curves,which provides a theoretical basis for the following research about trajectory control further.