機(jī)械臂軌跡規(guī)劃

本文格式為Word版，下載可任意編輯 機(jī)械臂軌跡規(guī)劃 　機(jī)械臂運(yùn)動(dòng)的軌跡規(guī)劃 　摘 　要 　空間機(jī)械臂就是一個(gè)機(jī)、電、熱、控一體化的高集成的空間機(jī)械系統(tǒng)。隨著科技的進(jìn)展,特殊就是航空飛機(jī)、機(jī)器人等的誕生得到了廣泛的應(yīng)用,空間機(jī)械臂作為在軌跡的支持、服務(wù)等以備受人們的關(guān)注。本文將以空間機(jī)械臂為討論對(duì)象,針對(duì)空間機(jī)械臂的直線運(yùn)動(dòng)、關(guān)節(jié)的規(guī)劃、空間直線以及弧線的軌跡規(guī)劃幾個(gè)面進(jìn)行討論,對(duì)機(jī)械臂運(yùn)動(dòng)與工作空間進(jìn)行了分析,同時(shí)對(duì)機(jī)械臂的軌跡規(guī)劃進(jìn)行了驗(yàn)證,利用 MATLAB 軟件對(duì)機(jī)械臂的軌跡進(jìn)行仿真,驗(yàn)證算法的正確性與可行性,同時(shí)此路徑規(guī)劃法可以提高機(jī)械臂的作業(yè)效率,為機(jī)械臂操作提高理論指導(dǎo),為機(jī)器人更簡單的運(yùn)動(dòng)仿真與路徑規(guī)劃打下基礎(chǔ)。 　本文一共分為四章: 第一章,首先總結(jié)了機(jī)械臂運(yùn)動(dòng)掌握與軌跡規(guī)劃問題的討論現(xiàn)狀及討論法,歸納了各種軌跡規(guī)劃的算法及其優(yōu)化法,闡述了機(jī)械臂的討論背景與主要容。 　 其次章,對(duì)機(jī)械臂的空間運(yùn)動(dòng)進(jìn)行分析討論,采納抽樣求解數(shù)值法蒙特卡洛法,進(jìn)行機(jī)械臂工作空間求解,同時(shí)在 MATLAB 中進(jìn)行仿真,直觀展現(xiàn)機(jī)械臂工作圍,為下一章的軌跡規(guī)劃供應(yīng)理論基礎(chǔ);同時(shí)通過 D-H 參數(shù)法對(duì)機(jī)械臂的正、逆運(yùn)動(dòng)分析求解,分析兩者的區(qū)分與聯(lián)系。 　第三章,主要針對(duì)軌跡規(guī)劃的一般性問題進(jìn)行分析,利用笛卡爾空間的軌跡規(guī)劃法對(duì)機(jī)械臂進(jìn)行軌跡規(guī)劃,同時(shí)利用 MATLAB 對(duì)空間直線與空間圓弧進(jìn)行軌跡規(guī)劃,通過仿真驗(yàn)證算法的正確性與可行性。 　第四章,總結(jié)全文,分析本文應(yīng)用到機(jī)械臂中的掌握算法,通過 MATLAB 結(jié)果可以得出本文所建立的算確性,能夠?qū)C(jī)械臂運(yùn)動(dòng)供應(yīng)有效的路徑,而且改進(jìn)了其她應(yīng)用于空間機(jī)械臂的路徑規(guī)劃問題。 　【 關(guān)鍵詞 】 　運(yùn)動(dòng)分析 工作空間 算法討論 軌跡規(guī)劃 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 　名目 　摘 要........................................................... - 1 - ABSTRACT........................................................ - 1 - 第一章 緒論..................................................... - 5 - 第一節(jié) 討論背景及意義 ....................................... - 5 - 其次節(jié) 國外進(jìn)展現(xiàn)狀 ......................................... - 6 - 一、國現(xiàn)狀............................................... - 6 - 二、國外現(xiàn)狀............................................. - 6 - 其次章 機(jī)械臂的運(yùn)動(dòng)分析......................................... - 7 - 第一節(jié) 機(jī)械臂的正運(yùn)動(dòng)學(xué)分析 ................................. - 7 - 其次節(jié) 機(jī)械臂的逆運(yùn)動(dòng)學(xué)求解 ................................. - 9 - 第三章 五軸機(jī)械臂軌跡規(guī)劃與仿真................................ - 10 - 第一節(jié) 軌跡規(guī)劃一般問題 .................................... - 11 - 其次節(jié) 關(guān)節(jié)空間的軌跡規(guī)劃 .................................. - 11 - 一、三次多項(xiàng)式插值法.................................... - 11 - 二、五次多項(xiàng)式插值...................................... - 15 - 第三節(jié) 笛卡爾空間的軌跡規(guī)劃 ................................ - 17 - 一、空間直線軌跡規(guī)劃.................................... - 17 - 二、空間圓弧的軌跡規(guī)劃.................................. - 20 - 三、一般空間軌跡規(guī)劃.................................... - 24 - 第四章 總結(jié)與展望.............................................. - 28 - 第 4 頁 共 4 頁