Dobot型机器人运动学分析与仿真

为了获得Dobot机器人的正逆解计算公式、避免解被丢失的可能性和保证角的精度,根据该型机器人的结构特点,运用D-H法建立了机器人的坐标系和运动学方程,进行了正逆运动学的分析,将双变量反正切函数应用到了逆解的表达式中。针对逆解多解和运动平稳性问题,对笛卡尔空间中利用直线插补和调用逆解公式求出的关节角序列进行了分析研究,提出了运用动态规划算法选出一组最优解序列,再利用三次B样条插值进行了连续化处理,并进行了实例验证和Matlab软件仿真。研究结果表明,利用该算法能够选出一组最优解和保证机器人运动的平稳性,为该型机器人的应用及轨迹规划与控制器的研究打下基础,所运用的算法和思想也适用于其他类型的多关节机器人。

Kinematics analysis and simulation of Dobot robot

In order to obtain Dobot robot forward and inverse kinematics formula, avoid the possibility of the solutions being lost and guarantee the angle precision, according to the structural characteristics of the robot, the coordinate system and the kinematics equation of the robot were established by the method of D-H, forward and inverse kinematics analysis was presented, two variable of the inverse tangent function was applied into the expression of inverse solution. Aiming at the multiple results problem of inverse solution and the problem of motion stability, the joint angle sequence obtained by using linear interpolation and calling inverse solution formula in Descartes space was analyzed and researched, a dynamic programming algorithm was proposed to select a set of optimal solution sequence. And the method of three B spline interpolation for continuous processing was used,and the example verification as well as the Matlab software simulation was carried out. The results indicate that the algorithm can select a set of optimal solution and guarantee the smoothness of robot motion, this can lay a foundation for this type of robots application, trajectory planning and the research of controller, the algorithm and ideas adopted in this paper are also applicable to other types of multi joint robots. ABSTRACT FROM AUTHOR]