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摘要工业 4.0高端制造是未来工业发展的大趋势， 智能机械臂是智能机器人新兴产业发展的重要组成部分，多自由度机械臂运动轨迹规划及其控制是智能机械手研究的核心内容和关键技术。本文针对某型三关节优尔自由度机械臂，研究其关节空间中的运动轨迹规划和最短路径轨迹规划问题。利用 D-H 坐标法建立机械臂运动学模型；对机械臂进行正逆运动学分析，并验证所得模型的正确性；利用三次样条插值法求解机械臂运动轨迹，并分析机械臂关节角度、角速度和角加速度曲线是否符合机械臂性能要求；最后求解关节空间中机械臂运动的最短时间路径。通过 Matlab 绘图，发现得到的关节角度曲线等变化平滑，符合机械臂性能要求，求解出的最短时间路径也在机械臂变化范围内。研究表明三次样条插值法得到的机械臂运动状态连续平稳且符合机械臂性能要求，是一种可行的轨迹规划方法。三次样条插值可以利用于工业生产中的钻孔、焊接等多点制造问题，对于实际生活中对插值函数光滑性有较高要求的场合，例如飞机机翼外形、发动机进、排气口等都要求有连续的二阶导数，用三次样条绘制的曲线不仅有很好的光滑度，也避免发生“龙格现象” 。41524
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毕业论文关键词 机械臂 D-H 坐标 三次样条插值 轨迹规划
Title Motion trajectory planning and Simulationof multi degree of freedom manipulator
Abstract Industrial 4.0 manufacturing is the trend of industry development. The intelligentmechanical arm is an important part of the intelligent robot and the developmentof key industries. The multi degree of freedom mechanical's motion trajectoryplanning and control is the core content and the key technology of intelligentrobot research. In this paper, we study the trajectory planning and the shortestpath planning problem of a mechanical arm which has a certain type of three jointsand six degrees of freedom. The manipulator kinematics model is established byusing the D-H coordinate method. The kinematics and inverse kinematics of themanipulator are analyzed to verify the correctness of the model. We use cubic splineinterpolation method to solve the problem of mechanical arm's motion trajectoriesand analysis the joint angle, angular velocity and angular acceleration curve ofmechanical arm. At last, we calculate the joint space motion of manipulators andthe shortest time path. Through the Matlab drawings, we found that the joint anglecurve and others are in accordance with the requirements of the mechanical arm.The shortest path is also within the scope of change. The research shows that thethree spline interpolation method is a feasible path planning method which canobtain the mechanical arm motion state continuously and smoothly and can meet therequirements of the mechanical arm. Three spline interpolation can be used inindustrial production of drilling/welding and other multi-point manufacturingproblems. For real production which has high requirement of the interpolationsmoothness of functions like aircraft wing shape, engine intake,air outlet andso on, use three spline interpolation method can not only have good smoothness,but also avoid "Runge phenomenon".
Keywords Manipulator arm D-H coordinates Three spline interpolationTrajectory planning
目次
1绪论.1
1.1课题研究背景.1
1.2机械臂轨迹规划简介2
1.3工业机械臂发展趋势3
1.4本文主要研究内容4
2机械臂运动学分析5
2.1机械臂位姿描述5
2.2机械臂正运动学分析7
2.3机械臂正运动学分析验证11
2.4机械臂逆运动学分析11
2.5机械臂逆运动学分析验证13
3机械臂的轨迹规划15
3.1轨迹规划.15
3.2关节空间轨迹规划15
3.3关节空间最小时间轨迹规划.23
结论.35
致谢.36
参考文献.37
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