摘 要

运动计划是用于查找从初始状态到目标状态的移动步骤的过程。运动计划通常需要在运动受限时找到最佳解决方案。通过分析工业机器人研究的现状，研究工业机器人的两个主要主题和困难是机器人路径规划和路径跟踪控制。因此，在路线规划中，以提高机器人操作效率和确保机器人操作的稳定性为目的，如何确定路径实现算法和优化算法是本文的研究重点和难点。在控制路径跟踪中，在假设中没有实际模型，以达到提高跟踪精度的研究目的。

为了实现机器人路径跟踪，在文章的一开始先对实验目标进行了运动学分析。接下来研究工业机器人的路径规划，讨论不同的路径规划方法，并结合优化指标（最佳时间，最佳功率，最佳效果等）对路径进行优化。除了项目工作区转移背景外，所提出的方案还用于实现不同场景下的机器人路径规划。路径规划就是在两个地点之间设计一条符合运动预期的运动路径。实验结果较为正确的表现出了机器人的位置和位置与关节变量之间的关系，对机器人路径规划和控制算法的实现具有参考价值。之后进行路劲规划，路径规划空间有两种，经过查阅分析资料选择关节空间规划。选择更为适合的空间建立坐标系之后，在进行插值法的优缺点比对。结果表明，五元多项式可以得到更多平滑和连续的路径曲线，该方法可以相对提高自动化系统的稳定性。

关键词：工业机器人，轨迹规划，关节空间

Abstract

A motion plan is a process used to find a move step from the initial state to the target state. Exercise planning usually needs to find the best solution when exercise is limited. By analyzing the current situation of industrial robot research, two main topics and difficulties of industrial robot research are robot path planning and path tracking control. Therefore, in order to improve the efficiency of robot operation and ensure the stability of robot operation, how to determine the path implementation algorithm and optimization algorithm is the focus and difficulty of this paper. It is assumed that there is no real model for control path tracking, so the tracking degree is improved.

In order to realize the robot path tracking, at the beginning of this paper, the robot kinematics is studied, which involves the basic problems such as generalized connection and transformation matrix.Secondly, the path planning of industrial robots is studied, and different path planning methods are studied. Using optimization criteria (best time, best power, best effect, etc.) to optimize the path, in addition to the transfer of space-time work space as the background, in order to achieve robot path planning in other scenes.Path planning,Based on the motion analysis of the robot, the realization of the robot's planning and trajectory control algorithm is important to connect the robot's final position and variable joints.. After that, there are two kinds of path planning for robot, one is joint space path planning, the other is Cartesian space path planning. After choosing more suitable space to establish coordinate system, the advantages and disadvantages of interpolation method are compared. The results show that more smooth and continuous path curves can be obtained by using the five element polynomial, which can improve the stability of the automation system.

Key words: industrial robot, trajectory planning, joint space.

目录

摘要 1

Abstract 2

第一章 绪论 4

1.1 研究轨迹规划的目的及意义 4

1.2 国内外机器人发展情况 5

1.2.1 国外机器人发展现状 5

1.2.2 国内机器人发展现状 5

1.3工业机器人市场未来发展趋势 6

第二章 机器人运动学分析 8

2.1 机器人运动学概述 8

2.2.1 六自由度工业机器人的D-H描述和运动方程的建立 8

2.2.2 运动学正解 9

2.2.3 运动学逆解 9

第三章 六自由度工业机器人轨迹规划研究 10

3.1 轨迹规划的描述 10

3.2轨迹规划的一般问题 10

3.3 关节空间轨迹规划 10

3.3.1三次多项式插值法 11

3.3.2五次多项式插值法 13

第四章 六自由度工业机器人轨迹规划仿真 15

第五章 总结 17

参考文献 18

致谢 19