六自由度点焊机器人平顺轨迹仿真研究

摘要

以ABB-IRB-1400型工业点焊机器人为对象,研究机器人平顺轨迹规划问题.首先根据建立的机器人D-H数学模型,应用MATLAB平台的矩阵运算功能,完成机器人正、逆运动学的求解.针对三次多项式不能保证角加速度光滑的问题,提出应用5次多项式对逆解求出的各个关节角进行插值规划.应用CATIA软件建立机器人的几何模型,通过CATIA与ADAMS之间的SimDesigner接口将其导入ADAMS软件中进行仿真,得到了各个关节的角度、角速度、角加速度的变化曲线,解决了机器人运动过程中平顺轨迹规划问题,为工程实际提供了一种有效、可行的轨迹规划方法.%The paper used the ABB - IRB - 1400 industrial spot - welding robot as the research object, and then researched the problem of robot smooth trajectory planning. First, according to the established robot D - H mathematical model, the matrix operation function of MATLAB software was applied to solve the forward and inverse kinematics. Second, according to the problem that three polynomial can not guarantee the smooth angle acceleration, a quin-tic polynomial was applied to plan each joint angle obtained though inverse. The geometry model robots with CATIA was established, and then ADAMS was imported though SimDesigner which is the professional interface software of CATIA and ADAMS. The angle, angular velocity and angular acceleration curve of each joint were measured in the process of simulation. Finally, the smooth trajectory curve was obtained, and the problem of smooth trajectory planning in the motion process was solved. The method provides an effective and feasible planning method for practice.