摘要
目的研究白酒包装线码垛机器人的轨迹曲线方程。方法采用D-H算法建立机器人空间轨迹的正解和逆解方程,求解得到各关节相对于初始位置的转角变化量,然后应用五次多项式逼近方式将转角驱动添加到对应的关节驱动上,对机器人进行动力学仿真,从而得到轨迹曲线。结果提取轨迹曲线上的点,运用Matlab曲线拟合工具箱进行数据拟合,得到了精确的机器人空间轨迹方程。结论采用仿真分析和数据拟合方法得到轨迹曲线方程,避免了复杂的数学建模和公式计算,从而在很大程度上减少了计算量和工作时间,为进一步完成控制系统的设计提供了理论基础和技术支持。
Objective To study the trajectory equation based on the transporting process of palletizing robot. Methods D-H method was adopted to establish the positive and inverse solutions equation of the robot＇ s space trajectory, and to obtain the angle variation relative to the initial position at each joint. Dynamics simulation was conducted after adding angle drive to the corresponding joint drive by applying five-order polynomial approximation methods, achieving the path curve of the robot. Results The parameter equation of space curve was obtained by using the Matlab curve fitting toolbox and the points in the trajectory curve, and the rationality of curve equation was compared. Conclusion The method of simulation analysis and data fitting could avoid complex mathematic modeling and formula calculation, consequently, it to a great extent reduced the amount of calculation and working hours, moreover, it provided theoretical basis and technical support for completing the design of the control system.
出处
《包装工程》
CAS
CSCD
北大核心
2014年第3期22-27,共6页
Packaging Engineering
基金
自贡市科技局科技计划研究项目(2010Q03)
四川理工学院科研基金项目(2012PY08)
泸州老窖科研基金项目(091jzk08)
关键词
码垛机器人
轨迹规划
动力学仿真
曲线拟合
palletizing robot
trajectory planning
dynamics simulation
curve fitting
