基于人机交互的多轴机械臂的运动控制分析.doc

基于人机交互的多轴机械臂的运动控制分析 摘要:多轴机械臂是机器人的重要组成部分，在人类的生产生活中具有广泛的应用。当今社会随着科学技术的迅速发展，人们对生活质量的要求也越来越高。在这种趋势之下机器人越来越多的出现在日常的工作、生产、生活、娱乐和教育等各个领域。其中多自由度机械臂做为一种最常见的机器人，具有时变性，耦合性以及非线性等特点。本文主要针对七自由度机械臂做为研究对象。采用D-H方法建立工业机器人各连杆的坐标系,应用齐次变换矩阵描述连杆坐标系之间的相对应的位置和姿态,求得该机器人的运动学数学模型;己知末端执行器位姿,运用代数法进行运动学反解,进而求得运动学逆解并讨论最优逆解。利用MATLAB的机器人工具箱建立了机器人数学模型，通过编程实现了对机器人动力学模型的检验，经过对运动学方程的求解结果和滑块控制图所设定数值的比较得出误差很小，验证了模型的可靠性，可以对研究者关于位置逆解或轨迹规划等方面的研究结果进行直观的验证，实现了正、逆运动学的数值计算和可视化仿真。应用轨迹规划的原理，对机械臂路径进行优化，减小机械臂的损害，力争得到最完美的结果。 关键字：多轴机械臂，逆运动学，MATLAB仿真，路径规划，D-H方法 Motion Control of Multi Axis Manipulator Based on Human-Computer Interaction Abstract：The multi-axis manipulator is an important part of the robot, and it has been widely applied to our daily life. The rapid development of science and technology raises the public’s living standard. Therefore, the robot is appearing in people’s field of work, production, life, entertainment, education, etc. in a rapid speed. Characterized with time varying, coupling and nonlinear, etc., the multi DOF Manipulator is a kind of frequently used robots. This paper mainly focuses on the seven DOF robot arm. To obtain the mathematical model of the robot kinematics, the coordinates of each link of industrial robot are established by D-H method and the position and attitude of the pole coordinates are described by homogeneous transformation matrix during the research. Also, to obtain the inverse kinematics and discuss inverse optimal solution, algebraic method of kinematic inverse solution is used under the circumstance of knowing the pose of end effector. Besides, the robot mathematical model is established by using MATLAB robotics toolbox and the robot dynamics model is tested by programming. The reliability and the error of the model are proved and by the kinematics equation solution and the comparison of supposed numbers of slider control chart as well. In this way, this paper can prove previous research results of the inverse position solution and trajectory planning. It also reali