串联机器人运动学建模与轨迹规划研究

以IRS3003机器人为研究对象对六自由度串联机器人的运动学建模及轨迹规划方法进行研究,采用D H建模方法,结合Matlab Robotics机器人工具箱建立IRS3003机器人运动模型,对机器人操作空间进行运动学分析.采用五次多项式插值方法,基于PPO路径规划码垛轨迹,分别实现机器人在关节空间和笛卡尔空间的轨迹规划与...

Kinematics Modeling and Trajectory Planning of Serial Robots

This paper aims to study the kinematics modeling and trajectory planning method of 6DOF serial robots by taking IRS3003 robot as the research object. Kinematics analysis of robot operation space is carried out through the use of Denavit-Hartenberg (DH) method and Matlab Robotics robot toolbox to establish the motion model. Quintic polynomial interpolation and PPO path planning are also employed to realize trajectory planning and Simulation of robot in joint space and Cartesian space. The correctness of the trajectory planning algorithm is verified on the IRS3003 robot. The results show that the joint angle, velocity and acceleration of the robot after trajectory planning by using the quintic polynomial interpolation method have no obvious mutation. The motion is stable, which makes a sufficient theoretical foundation for the subsequent optimization experiments.