基于P-Rob六自由度机械臂运动学建模与仿真

Kinematics Modeling and Simulation of Six Degrees of Freedom Manipulator Based on P-rob

中文关键词: 六自由度  机械臂  D-H  运动学模型  Matlab仿真  轨迹规划

英文关键词: six degrees of freedom  mechanical arm  D-H  kinematics model  Matlab simulation  trajectory planning

中文摘要:

      目的 为实现后续机械臂控制算法研究，检验机械臂运动学模型构建的正确性，基于PersonalRobotics，对六自由度机械臂进行运动学模型构建和轨迹仿真。方法 通过标准D-H法建立运动学模型，实现机械臂的正、逆运动学方程求解，根据机械臂的结构特性，对传统逆向运动学求解的解析法进行改进。结果 使用仿真软件Matlab验证了运动学模型建立的准确性，改进的逆向运动学求解算法降低了传统求解算法的复杂度。使用仿真软件Matlab验证了运动学模型建立的准确性，并通过Matlab对改进的逆行运动学求解方法进行了验证，结果表明，改进的逆向运动学求解速度是传统逆向运动学求解速度的一半。结论 根据六自由度机械臂的运动学研究，对实际机械臂的运动控制具有一定的参考价值。在实际的P-Rob机械臂上进行了仿真数据的测试，再次验证了运动学模型建立的准确性，仿真数据可应用于实际的机械臂控制中。实验现象表明针对此机械结构的机械臂，使用改进解析法求解逆解的方法计算简单、误差小、可行性强。

英文摘要:

      The work aims to carry out the kinematics model construction and trajectory simulation of the six-degree-of-freedom manipulator based on PersonalRobotics, so as to realize the research of the late manipulator control algorithm and verify the correctness of the kinematics model construction. The kinematics model was established by the standard D-H method, and the forward and inverse kinematic equations of the manipulator were solved. According to the structural characteristics of the manipulator, the analytical method of the traditional inverse kinematics solution was im-proved. The accuracy of the kinematics model was verified by the simulation software Matlab. The improved inverse kinematics algorithm reduced the complexity of the traditional algorithm. The simulation software Matlab was used to verify the accuracy of the kinematic model, and the improved inverse kinematics solution method was verified by Matlab. The improved inverse kinematics solution speed was half of the traditional inverse kinematics solution speed. According to the kinematics study of the six-degree-of-freedom manipulator, the study has certain reference value for the motion control of the actual manipulator. The simulation data are tested on the actual P-Rob arm, and the accuracy of the kinematic model is verified again. The simulation data can be applied to the actual robot arm control. The experimental phenomenon shows that the method of solving the inverse solution by the improved analytical method for the mechanical arm of this mechanical structure is simple, the error is small, and the feasibility is strong.