【摘要】：作為機(jī)器人領(lǐng)域的一個(gè)重要分支,工業(yè)機(jī)器人的發(fā)展與應(yīng)用一直備受社會(huì)的關(guān)注。隨著社會(huì)的發(fā)展與人們對(duì)物質(zhì)需求的日益增長(zhǎng),工業(yè)機(jī)器人的作業(yè)質(zhì)量與效率成為人們?cè)絹碓疥P(guān)心的一個(gè)因素。因此,以時(shí)間最優(yōu)為目標(biāo)的機(jī)器人軌跡規(guī)劃越來越受到學(xué)者們的青睞。本文以PUMA560機(jī)器人為研究對(duì)象,在對(duì)其建立運(yùn)動(dòng)學(xué)模型的基礎(chǔ)上,采用五次多項(xiàng)式函數(shù)規(guī)劃出機(jī)器人各個(gè)關(guān)節(jié)的運(yùn)行軌跡,利用一種自適應(yīng)遺傳算法對(duì)各關(guān)節(jié)運(yùn)動(dòng)時(shí)間進(jìn)行優(yōu)化,使機(jī)器人在較短的時(shí)間內(nèi)完成規(guī)定的動(dòng)作。本文首先介紹了課題的研究背景和意義以及機(jī)器人技術(shù)發(fā)展?fàn)顩r和應(yīng)用前景,簡(jiǎn)要闡述了機(jī)器人軌跡規(guī)劃的一般性問題,并對(duì)近年來國(guó)內(nèi)外的專家、學(xué)者在機(jī)器人軌跡優(yōu)化方面的研究成果進(jìn)行調(diào)研、綜述和分析。根據(jù)機(jī)器人運(yùn)動(dòng)學(xué)知識(shí),簡(jiǎn)要闡述了空間點(diǎn)的描述方法以及坐標(biāo)變換的理論,并以PUMA560機(jī)器人為研究對(duì)象,對(duì)其建立運(yùn)動(dòng)學(xué)方程,用各關(guān)節(jié)變量來表示機(jī)器人手臂末端的位姿,并對(duì)機(jī)器人逆運(yùn)動(dòng)學(xué)進(jìn)行分析與求解。通過對(duì)機(jī)器人軌跡規(guī)劃理論進(jìn)行研究,分析了笛卡爾空間中直線插補(bǔ)和圓弧插補(bǔ)的方法,以及關(guān)節(jié)空間中五次多項(xiàng)式函數(shù)和帶有拋物線的過渡插值方法。并且通過MATLAB編程分別實(shí)現(xiàn)在笛卡爾空間和關(guān)節(jié)空間中機(jī)器人軌跡規(guī)劃的仿真。在分析遺傳算法機(jī)理和遺傳算子對(duì)進(jìn)化過程影響的基礎(chǔ)上,采用一種自適應(yīng)遺傳算法對(duì)機(jī)器人關(guān)節(jié)臂的運(yùn)行軌跡進(jìn)行優(yōu)化并通過MATLAB對(duì)PUMA560各關(guān)節(jié)的運(yùn)行軌跡進(jìn)行了仿真。對(duì)各曲線分析可知,本文的方法較好地實(shí)現(xiàn)了時(shí)間最優(yōu)的規(guī)劃目標(biāo),并且保證了各關(guān)節(jié)的角位移、速度和加速度曲線的平滑,確保機(jī)器人平穩(wěn)、高效地完成任務(wù)。
[Abstract]:As an important branch of robot field, the development and application of industrial robot has been paid much attention by the society. With the development of society and the increasing demand for material, the working quality and efficiency of industrial robots have become a more and more concerned factor. Therefore, robot trajectory planning aiming at optimal time is becoming more and more popular. Based on the kinematics model of PUMA560 robot, the fifth order polynomial function is used to plan the trajectory of each joint, and an adaptive genetic algorithm is used to optimize the motion time of each joint. Enables the robot to complete the specified action in a relatively short period of time. This paper first introduces the research background and significance of the subject, the development status and application prospect of robot technology, briefly expounds the general problems of robot trajectory planning, and discusses the experts at home and abroad in recent years. The research results of robot trajectory optimization are summarized and analyzed. According to the kinematics knowledge of the robot, the description method of the space point and the theory of coordinate transformation are briefly expounded. The kinematics equation is established for the PUMA560 robot, and the position and pose of the end of the robot arm are represented by the joint variables. The inverse kinematics of the robot is analyzed and solved. Based on the research of robot trajectory planning theory, the methods of straight line interpolation and arc interpolation in Cartesian space are analyzed, as well as the fifth degree polynomial function and the transitional interpolation method with parabola in joint space. The simulation of robot trajectory planning in Cartesian space and joint space is realized by MATLAB programming. On the basis of analyzing the mechanism of genetic algorithm and the influence of genetic operator on the evolution process, an adaptive genetic algorithm is used to optimize the trajectory of robot joint arm, and the trajectory of each joint of PUMA560 is simulated by MATLAB. According to the analysis of each curve, the method in this paper can achieve the optimal planning goal of time, and ensure the smooth angular displacement, velocity and acceleration curve of each joint, and ensure the robot to finish the task smoothly and efficiently.
【學(xué)位授予單位】：安徽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242.2

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