工业机器人三维仿真及其运动控制研究计算机软件与理论专业论文.docxVIP

研究生优秀毕业论文 AbstractCurrently,with Abstract Currently,with the improvement of industrialization level，industrial robot acted as the core of the third industrial revolution is sweeping the globe．Industrial robot is being developed at an unprecedented speed．It has leaved humans from danger,poor working conditions such as handling，painting，welding etc．However，these tasks inseparable from the robot motion planning and contr01．This paper used ABB IRB 1 20 industrial robot to do some study of trajectory planning，and designed its software platform of three．dimensional visual simulation and contr01． First，the inverse kinematics of robot was studied．This paper derived specific solving formula for the analytical solution of ABB IRB 120 industrial robot and gave a method of selecting best solution．Based on the Differential movement of the robot，this paper proposed a general algorithm based on Jacobian matrix of inverse kinematics solving problem on 6R industrial robot． Secondly,based on the adjacent transform relationship of robot modules，a modular design of the robot construction algorithm based on DH parameters was proposed．Based on this algorithm，and analyze the typical 3D model file，the three．dimensional modeling of modular robot was created by using OpenGL． Next，motion control plan of industrial robot was studied．Constraint on the movement o f industrial robot’S joint space，this paper gave several typical fitting functions to describe the movement．And for the continuous path control，in the Cartesian space，this paper proposed a trajectory planning method based on cubic polynomial along with the constraint ofjoint space． This method can guarantee angular velocity not appear mutation situation． Finally,build a software platform of three—dimensional simulation of and motion contr01． The software platform can construct the industrial robot，and analyze kinematic and simulate its motion contr01．At the same time，the software platform can establish communication mechanism with the