基于MATLAB的KUKA焊接机器人轨迹规划与运动学仿真

在工业机器人的应用控制中,其作业轨迹的规划是系统设计的关键内容,为了使焊接机器人能根据设定的轨迹和速度进行高效施焊,以KUKA KR10 R1420型工业机器人为研究对象并分析其结构,采用D-H参数法建立各杆件坐标系,通过齐次变换矩阵建立机器人运动学方程。利用MATLAB机器人工具箱构建KR10 R1420型工业机器人的数学模型,并进行了轨迹规划和运动学仿真,获得平稳且连续的末端执行器轨迹和各关节的角度、角速度、角加速度变化曲线,仿真结果验证了所建KR10 R1420型工业机器人运动学模型的正确性和合理性,为焊接机器人在复杂环境中的轨迹规划提供了可供参考的方案。

Trajectory Planning and Kinematics Simulation of KUKA Welding Robot Based on MATLAB

In the application control of industrial robot, the planning of its working trajectory is the key content of the system design. In order to make the welding robot perform welding efficiently according to the set trajectory and speed, the KUKA KR10 R1420 industrial robot is taken as the research object and its structure is analyzed. The coordinate system of each member was established by D-H parameter method, and the kinematics equation of the robot was established by homogeneous transformation matrix. The mathematical model of KR10 R1420 industrial robot was constructed by using MATLAB robot toolbox, and the trajectory planning and kinematics simulation were carried out. The stable and continuous trajectory of end-effector and the angle, angle velocity and angle acceleration curves of each joint were obtained. The simulation results verify the correctness and rationality of the kinematics model of KR10 R1420 industrial robot, which provides a reference scheme for welding robot of trajectory planning in the complex environment.