機(jī)械臂的軌跡規(guī)劃-wenkub
2023-06-13 22:58:26 本頁(yè)面
【正文】 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 people39。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)控制與軌跡規(guī)劃問(wèn)題的研究現(xiàn)狀及研究方法，歸納了各種軌跡規(guī)劃的算法及其優(yōu)化方法，闡述了機(jī)械臂的研究背景和主要內(nèi)容。機(jī)械臂運(yùn)動(dòng)的軌跡規(guī)劃摘 要 空間機(jī)械臂是一個(gè)機(jī)、電、熱、控一體化的高集成的空間機(jī)械系統(tǒng)。 第二章，對(duì)機(jī)械臂的空間運(yùn)動(dòng)進(jìn)行分析研究，采用抽樣求解數(shù)值法—蒙特卡洛方法，進(jìn)行機(jī)械臂工作空間求解，同時(shí)在MATLAB中進(jìn)行仿真，直觀展示機(jī)械臂工作范圍，為下一章的軌跡規(guī)劃提供理論基礎(chǔ)；同時(shí)通過(guò)DH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)別和聯(lián)系。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 plicated 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 dh 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 32 目錄摘 要 1 ABSTRACT 2 第一章 緒論 5 第一節(jié) 研究背景及意義 5 第二節(jié) 國(guó)內(nèi)外發(fā)展現(xiàn)狀 6 一、國(guó)內(nèi)現(xiàn)狀 6 二、國(guó)外現(xiàn)狀 6 第二章 機(jī)械臂的運(yùn)動(dòng)分析 8 第一節(jié) 機(jī)械臂的正運(yùn)動(dòng)學(xué)分析 8 第二節(jié) 機(jī)械臂的逆運(yùn)動(dòng)學(xué)求解 10 第三章 五軸機(jī)械臂軌跡規(guī)劃與仿真 11 第一節(jié) 軌跡規(guī)劃一般問(wèn)題 11 第二節(jié) 關(guān)節(jié)空間的軌跡規(guī)劃 12 一、三次多項(xiàng)式插值法 12 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 18 二、空間圓弧的軌跡規(guī)劃 21 三、一般空間軌跡規(guī)劃 25 第四章 總結(jié)與展望 30 參考文獻(xiàn) 31 第一章 緒論第一節(jié) 研究背景及意義
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