机械臂的轨迹规划

机械臂运动的轨迹规划

摘要

空间机械臂是一个机、电、热、控一体化的高集成的空间机械系统。随着科技的发展，特别是航空飞机、机器人等的诞生得到了广泛的应用，空间机械臂作为在轨迹的支持、服务等以备受人们的关注。本文将以空间机械臂为研究对象，针对空间机械臂的直线运动、关节的规划、空间直线以及弧线的轨迹规划几个方面进行研究，对机械臂运动和工作空间进行了分析，同时对机械臂的轨迹规划进行了验证，利用MATLAB软件对机械臂的轨迹进行仿真，验证算法的正确性和可行性，同时此路径规划方法可以提高机械臂的作业效率，为机械臂操作提高理论指导，为机器人更复杂的运动仿真与路径规划打下基础。

本文一共分为四章：

第一章，首先总结了机械臂运动控制与轨迹规划问题的研究现状及研究方法，归纳了各种轨迹规划的算法及其优化方法，阐述了机械臂的研究背景和主要内容。

第二章，对机械臂的空间运动进行分析研究，采用抽样求解数值法—蒙特卡洛方法，进行机械臂工作空间求解，同时在MATLAB中进行仿真，直观展示机械臂工作范围，为下一章的轨迹规划提供理论基础；同时通过D-H参数法对机械臂的正、逆运动分析求解，分析两者的区别和联系。

第三章，主要针对轨迹规划的一般性问题进行分析，利用笛卡尔空间的轨迹规划方法对机械臂进行轨迹规划，同时利用MATLAB对空间直线和空间圆弧进行轨迹规划，通过仿真验证算法的正确性和可行性。

第四章，总结全文，分析本文应用到机械臂中的控制算法，通过MATLAB 结果可以得出本文所建立的算法正确性，能够对机械臂运动提供有效的路径，而且改进了其他应用于空间机械臂的路径规划问题。

【关键词】运动分析工作空间算法研究轨迹规划

ABSTRACT

Space manipulator is a machine, electricity, heat, charged with high integration of space mechanical system integration. With the development of science and technology, especially the birth of aviation aircraft, a robot has been widely used, the trajectory of space manipulator as the support and services to people's attention. This article will space manipulator as the research object, according to the linear motion of the space manipulator, joint planning, space of the straight line and curve, the trajectory planning of several aspects of mechanical arm movement and working space are analyzed, and the trajectory planning of manipulator is verified, the trajectory of manipulator is to make use of MATLAB software simulation, verify the correctness and feasibility of the algorithm, at the same time this path planning method can improve the efficiency of mechanical arm, improve the theoretical guidance for mechanical arm operation, simulation and path planning for robot more complicated movement.

This article is divided into four chapters altogether:

The first chapter, first summarizes the mechanical arm motion control and path planning problem research status and research methods, summarizes the variety of trajectory planning algorithm and the method of optimization, and expounds the research background and main content of mechanical arm.

The second chapter, the paper studied the space motion of mechanical arm, the numerical method, monte carlo method are deduced with the method of sampling, the workspace for mechanical arm is, at the same time the simulation in MATLAB, intuitive display mechanical arm work scope, providing theoretical basis for the next chapter of trajectory planning. At the same time through d-h method of positive and inverse kinematic analysis of the mechanical arm, analyze the difference and contact.

The third chapter, mainly aims at the general problem of trajectory planning is analyzed, using cartesian space trajectory planning method for trajectory planning, mechanical arm at the same time, MATLAB is used to analyse the spatial straight line and arc trajectory planning, through the simulation verify the correctness and feasibility of the algorithm.

The fourth chapter, summarizes the full text, analysis of the control algorithm is applied to the mechanical arm in this paper, through the MATLAB results can be concluded that the correctness of algorithm, can provide effective path of mechanical arm movement, and improved the other used in space manipulator path planning problem.

[key words] motion analysis,work space,trajectory planning,algorithm research