基于MATLAB的6R焊接机器人运动学的仿真研究

为了更好地控制焊接机器人进行精准的焊接作业，以ABBIRB1600型焊接机器人为研究对象，利用MATLAB分析了它的正运动学、逆运动学和轨迹规划问题。基于标准D-H法对其进行建模，建立正运动学方程；在正向运动学的基础上，通过矩阵求逆的方法生成多组非线性方程并得到机器人各关节角度变量的8组解；在关节空间内对该机器人进行运动轨迹仿真，得到各关节轴的角位移、角速度和角加速度随时间变化的平滑曲线，仿真结果证明了所建立的运动学方程的正确性以及该机器人参数的合理性。为后续焊接机器人的轨迹规划研究提供了必要的理论基础和正确的运动学模型。

Kinematics Simulation of 6R Welding Robot Based on MATLAB

To better control the welding robot for accurate welding， the forward kinematics， inverse kinematics and trajectory planning of ABBIRB1600 welding robot were analyzed by MATLAB. The forward kinematics equation was established based on the standard Denavit-Hartenberg method. On the basis of forward kinematics， multiple nonlinear equations were generated by matrix inverse method and eight solutions regarding angle variables of robot joints were obtained. The motion trajectory of the robot was simulated in the joint space， and the smooth curves of angular displacement， angular velocity and angular acceleration of each joint axis with the time were obtained. The simulation results proved that the kinematics equation established is correct and the parameters of the robot are reasonable. It provides necessary theoretical basis and correct kinematics model for the subsequent research on trajectory planning of welding robots.