摘要
为解决所设计的五自由度农业采摘机器人的轨迹规划问题,通过DH参数建模建立了其运动学模型,提出了一种基于代数法和几何法的综合应用的算法,成功推导了此类机器人的逆运动学解析解。在此基础上,采用一种加速度函数为组合正弦函数的轨迹规划方法对其进行关节空间的轨迹规划,并进行了仿真实验分析。研究结果表明,该规划方法不仅具有操作时间短的特点,而且使得机器人运动平稳,无振动和过冲现象,满足机器人准确、快速完成采摘任务的要求。
In order to solve the problems of the five DOF joint agricultural picking robot＇s trajectory planning problem,the DH parameters were analyzed and the kinematics model was established,an algorithm was put forward based on the comprehensive application of analytic and geometric method,and the inverse kinematics analytical solution was gotten.On this work,a trajectory planning method was used whose acceleration functions are several sine functions.The simulation results indicate that,the trajectory planning method presents the shortest operating time,and also makes the robot move smoothly,without vibration and overshoot phenomenon.It can meet the robot＇s request of completing the task fast and accurately.
出处
《机电工程》
CAS
2010年第12期1-6,共6页
Journal of Mechanical & Electrical Engineering
基金
国家高技术研究发展计划("863"计划)项目(2007AA042222)
浙江工业大学校基金资助项目(1001102005408)
关键词
农业采摘机器人
逆运动学
组合正弦函数
轨迹规划
agricultural picking robots
inverse kinematics
combination of sine functions
trajectory planning
