Dobot机械臂建模仿真与轨迹规划算法研究

MATLAB环境下研究Dobot机械臂的D-H建模、运动学分析、轨迹规划算法、仿真。在MATLAB机器人工具箱环境下，基于D-H参数模型建立Dobot机械臂模型,计算机械臂的齐次变换矩阵，通过仿真工具箱进行正逆运动学仿真与轨迹规划控制研究的运动仿真。通过仿真分析得到机械臂各关节在轨迹规划算法作用下的位移、速度、加速度以及末端轨迹。从仿真结果可知研究方法对于机械臂运动控制研究具有重要的现实意义，为Dobot机械臂控制、优化算法研究提供参考。

Research on Modeling and Simulation,and Trajectory Planning Algorithms for Dobot Manipulators

The paper aims to study D-H modeling, kinematics analyses, trajectory planning algorithms, and simulation of Dobot manipulators in the MATLAB environment. In MATLAB Robotics Toolbox environment and on the basis of the D-H parameters, the Dobot manipulator model is established to calculate the homogeneous transformation matrix of the mechanic arm. The simulation toolkit is utilized for forward and inverse kinematics simulation and motion simulation in the research on the trajectory planning control. Displacement, velocity, acceleration and the end track of each joint of the mechanic arm under the action of the trajectory planning algorithm are obtained by a simulation analysis. The simulation results indicate that the research method has practical significance for the research on manipulator motion control and provides a reference for research on control and optimization algorithm of Dobot manipulators.