串联抓取机械臂运动轨迹规划算法研究

首先根据现有的小型六自由度串联机械臂完成D-H参数表,建立机械臂的数学模型,进行机械臂运动学求解.再根据机械臂在抓取目标物体时,末端执行机构的位置和姿态,运用Matlab中的Robotics Toolbox工具箱进行逆运动学求解,得到各关节角的角度。接着在增加障碍物的约束条件下,运用A^*搜寻算法,规划出抓取目标物的运动轨迹。之后应用拉格朗日插值法将运动轨迹上的运动点,通过插值的方法优化,进一步优化A^*算法规划出的运动轨迹。最后通过实验验证,达到了预期的结果,从而验证了在A^*算法的基础上运用拉格朗日插值法,在机械臂轨迹规划上应用的可行性和合理性。

Research on Trajectory Planning Algorithm of Tandem Grasping Manipulator

Firstly, according to the existing small six DOF serial manipulator to complete D-H parameter table, establishing mathematical model of the manipulator, finshing manipulator kinematics. Then according to the mechanical arm in grasping object when the end effector position and posture mechanism, inverse kinematics is solved by using Matlab in the Robotics Toolbox and getting the joint angle.Then, under the constraint condition of increasing obstacles, the A^* search algorithm is used to plan the trajectory of the target. The Lagrange interpolation method is used to optimize the moving point of the moving track by interpolated method, and further optimize the trajectory of A^* algorithm. Finally, the experimental results show that the desired results are achieved, and the feasibility and rationality of applying the Lagrange interpolation method in the trajectory planning of manipulator are verified on the basis of the A^* algorithm.