UR5机器人运动学及奇异性分析

为了解决UR5机器人用户建立的机器人坐标系与厂家建立的机器人坐标系不一致,机器人内部有关力、角速度、角加速度等数据信息难以被直接使用的问题,在分析UR5机器人结构特点的基础上,建立与厂家数据匹配的坐标系。采用D-H参数法建立UR5机器人的运动学方程,描述机器人各杆件的相对位姿关系,依据UR5机器人满足Pieper准则的结构特性,采用分离变量法求取UR5机器人的运动学反解,并利用微分变换法完成UR5机器人奇异位形分析,奇异性分析与仿真结果表明了UR5机器人位置奇异时各关节变量之间的关系。使用MATLAB软件编写运动学程序,并利用机器人系统对程序进行实验室测试与工程实践验证,MATLAB运动学程序实验结果与UR5系统内部数据一致,验证了运动学分析的正确性。研究结果对进一步开展UR5机器人连续轨迹规划研究具有参考价值。

Kinematics and singularity analysis of UR5 robot

In order to solve the problem that the UR5 robot coordinate system established by the user is inconsistent with the manufacturer''s, and the data related to the force, angular velocity, angular acceleration are difficult to be directly used, based on the analysis of the structural characteristics of the UR5 robot, the coordinate system matching the manufacturer''s data is established. The kinematics equation of the UR5 robot is established by D-H method to describe the relationship of each joint. According to the structural characteristics satisfying the Pieper criterion of the UR5 robot, the kinematic inverse solution of the UR5 robot is obtained by the separation variable method. The singularity analysis of UR5 robot is completed by differential transformation method, and the singularity analysis and simulation results show the relationship between the joint variables of UR5 robot when the position is singular. The kinematics program is written by using MATLAB software, and the robot system is used to carry out laboratory test and engineering practice verification. The experimental results of MATLAB kinematics program are consistent with the internal data of UR5 system, which verifies the correctness of kinematics analysis. The research result has some reference for further research of UR5 robot continuous trajectory planning.