機械臂軌跡規(guī)劃

《機械臂軌跡規(guī)劃》由會員分享，可在線閱讀，更多相關(guān)《機械臂軌跡規(guī)劃（4頁珍藏版）》請在裝配圖網(wǎng)上搜索。

1、本文格式為Word版，下載可任意編輯 機械臂軌跡規(guī)劃 　機械臂運動的軌跡規(guī)劃 　摘 　要 　空間機械臂就是一個機、電、熱、控一體化的高集成的空間機械系統(tǒng)。隨著科技的進展,特殊就是航空飛機、機器人等的誕生得到了廣泛的應用,空間機械臂作為在軌跡的支持、服務等以備受人們的關(guān)注。本文將以空間機械臂為討論對象,針對空間機械臂的直線運動、關(guān)節(jié)的規(guī)劃、空間直線以及弧線的軌跡規(guī)劃幾個面進行討論,對機械臂運動與工作空間進行了分析,同時對機械臂的軌跡規(guī)劃進行了驗證,利用 MATLAB 軟件對機械臂的軌跡進行仿真,驗證算法的正確性與可行性,同時此路徑規(guī)劃法可以提高機械臂的作業(yè)效率,為

2、機械臂操作提高理論指導,為機器人更簡單的運動仿真與路徑規(guī)劃打下基礎。 　本文一共分為四章: 第一章,首先總結(jié)了機械臂運動掌握與軌跡規(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,闡述了機械臂的討論背景與主要容。 　 其次章,對機械臂的空間運動進行分析討論,采納抽樣求解數(shù)值法蒙特卡洛法,進行機械臂工作空間求解,同時在 MATLAB 中進行仿真,直觀展現(xiàn)機械臂工作圍,為下一章的軌跡規(guī)劃供應理論基礎;同時通過 D-H 參數(shù)法對機械臂的正、逆運動分析求解,分析兩者的區(qū)分與聯(lián)系。 　第三章,主要針對軌跡規(guī)劃的一般性問題進行分析,利用笛卡爾空間的軌跡規(guī)劃法對機械臂進

3、行軌跡規(guī)劃,同時利用 MATLAB 對空間直線與空間圓弧進行軌跡規(guī)劃,通過仿真驗證算法的正確性與可行性。 　第四章,總結(jié)全文,分析本文應用到機械臂中的掌握算法,通過 MATLAB 結(jié)果可以得出本文所建立的算確性,能夠?qū)C械臂運動供應有效的路徑,而且改進了其她應用于空間機械臂的路徑規(guī)劃問題。 　【 關(guān)鍵詞 】 　運動分析 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 mechanic

4、al 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, acc

5、ording 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 t

6、o 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 compl

7、icated 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 optimiza

8、tion, 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 s

9、imulation 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

10、, 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

11、 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

12、 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.............................................

13、........... - 1 - 第一章 緒論..................................................... - 5 - 第一節(jié) 討論背景及意義 ....................................... - 5 - 其次節(jié) 國外進展現(xiàn)狀 ......................................... - 6 - 一、國現(xiàn)狀............................................... - 6 - 二、國外現(xiàn)狀..................................

14、........... - 6 - 其次章 機械臂的運動分析......................................... - 7 - 第一節(jié) 機械臂的正運動學分析 ................................. - 7 - 其次節(jié) 機械臂的逆運動學求解 ................................. - 9 - 第三章 五軸機械臂軌跡規(guī)劃與仿真................................ - 10 - 第一節(jié) 軌跡規(guī)劃一般問題 .................................... - 11 -

15、 其次節(jié) 關(guān)節(jié)空間的軌跡規(guī)劃 .................................. - 11 - 一、三次多項式插值法.................................... - 11 - 二、五次多項式插值...................................... - 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