基于MATLAB-Robotics工具箱的工业机器人轨迹规划及仿真研究

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!20.02mm。4h、、。CS6140。。6p、PK。1.M.2007.2.M.1980.1972-。2011-03-17MATLAB-Roboticsabba.b.1500011。。、。CincinnatiT3-746。。、CincinnatiT3-746、、。MATLAB-RoboticsCincinnatiT3-746。MATLAB-RoboticsCincinnatiT3-746。2CincinnatiT3-7462.1CincinnatiT3-746CincinnatiT3-746CincinnatiT3-746。。MATLAB-Robotics、。。。MATLABRoboticsTH16;TP242A1002－2333201107－0081－03ResearchonTrajectoryPlanningandSimulationofIndustrialRobotsBasedonMATLAB-RoboticsToolboxYUTian-yua,Li-dab,SONGBao-yuba.HonorsSchoolb.SchoolofMechatronicsEngineering,HarbinInstituteofTechnology,Harbin150001,ChinaAbstract：ThepaperanalyzedandsimulatedonkinematictrajectoryplanningofindustrialrobotsCincinnatiT3-746.Cubicpolynomialinterpolationandexperimentalmethodwasusedinjointtrajectoryplanningonthisrobot.Thisexperimentmodeledonthisrobot,realizedtrajectoryfittingandinterpolationofanystraightlineandcircularcurveinworkingareabyusingMATLAB-RoboticsToolbox.Byusingkinematicsandinversekinematicssolutions,thisexperimentgetsreal-timenumericalsolutioninjointspacecoordinates.Itprovidedtheoreticalbasisforfurtherresearchandapplicationonindustrialrobots.Keywords：industrialrobots;trajectoryplanning;MATLAB;roboticstoolbox8120117//CAD/CAM/CAE/CAPPMANUFACTURINGINFORMATIZATION2CincinnatiT3-746MATLABx4d4z3x3o3x2z4o4x5z5o5a4a2z2x1z0=z1o0=o1=o2x0θ1θ2θ31i12345di000d40αi-10°90°0°90°90°ai00a20a4θi0-90°90°0°0°0°θiθ1-135°～135°θ2-120°～-30°θ3-45°～45°θ4-180°θ5-180°～180°1CincinnatiT3-746。66、34。、、。1。2.2CincinnatiT3-746MATLABD-H4×4i-1Ti=cθi-sθi0ai-1sθicαi-1cθicαi-1-sαi-1-disαi-1sθisαi-1cθisαi-1cαi-1dicαi-1000000000000000000000000000001CincinnatiT3-7461aixi、zizi+1αi-1xi、zizi+1dizi、xi-1xiθizi、xi-1xi-。MATLABLink4α、a、θ、d50、1ModifiedD-H。1a2=1150mm、a4=-188mm、d4=1466mm。0T5＝00100-10-d4100a2+a4000000000000000000000000000001＝00100－10－1466100962000000000000000000000000000001MATLABLinkL1=link00-pi/200’mod’L2=linkpi/20pi/200’mod’L3=link01150000’mod’L4=linkpi/20014660’mod’L5=linkpi/2-188000’mod’hithd=robotL’hithdrobot’%clearLhithd.name=’hithdrobot’drivebothithd%MATLAB2。33.1CincinnatiT3-746、。0°105°15°80x66A8、0x5AAE、0x4EAB、0x3EC5、0x2EDD、0x20F1、0x16F9、0x0D0E。-90°-30°10°70X7F31、0x7932、0x733A、0x6B3A、0x653A、0x5F32、0x5730。0°-40°10°50xBEDE、0XC66D、0xCC47、0xD226、0xDA0D。3.2MATLABPolyfit、Polyval、Interpl3。、。4、4.1q1=0pi/2000T1=fkinehithdq1T＝01014660010100962000000000000000000000000000001XY3×3。MATLAB201178232.521.510.50020406080100120×10433.43.23.02.82.62.42.2×104-90-80-70-60-50-40-304×1045.65.55.45.35.25.15.04.94.8－40-35-30-25-20-15-10-505//CAD/CAM/CAE/CAPPMANUFACTURINGINFORMATIZATIONZ200010000-1000-2000200010000-1000-2000-2000-1000010002000YX1/rad2/rad3/rad!!!!!!!!!!7、i=0:3:30T1=0102025.50010100-2300001%T2=0102025.5001i:11100-2300001%ta=0:.01:2’%Ta=ctrajT1T2lengthta%ticq=ikinehithdTa%toc%、subplot311plottaq:1xlabel’Times’ylabel’Joint1rad’subplot312plottaq:2xlabel’Times’ylabel’Joint2rad’subplot313plottaq:3xlabel’Times’ylabel’Joint3rad’holdonpause%clfplothithdq%view4050%pause%drivebothithd%echooff、6。、、。4.2MATLAB2022.53030alpha=0:pi/80:2*pi%R=30%a1=2022.5+R*sinalpha%xb1=30-R*cosalpha%yfori=1:1:40Ti=010a1:i001b1:i100-2300001%40endfori=1:1:40ti=i:.025:i+1’Tai=ctrajTiTi+1lengthti%40endfori=1:1:40ticqi=ikinehithdTai%40tocendsubplot、7。。5MATLAB-RoboticsCincinnatiT3-746。、。MATLAB、CincinnatiT3-746。。1CORKEP.MachineVisionToolboxJ.IEEERoboticsandAutomation20051216-25.2.M.2000.3．CINCINNATID.2005.4.MATLABADAMSJ.2010493－95.5.CINCINNATIMILACRONT'3D.2005.6.J.20104188－190.1987-、、。2011-04-2783201176、//CAD/CAM/CAE/CAPPMANUFACTURINGINFORMATIZATION0.020.0100.67890.67880.320.31950.31900.20.40.60.81.01.21.41.61.82/s00.20.40.60.81.01.21.41.61.82/s00.20.40.60.81.01.21.41.61.82/s2/rad1/rad3/rad0.020.010051015202530354045/s051015202530354045/s051015202530354045/s0.700.650.400.350