六自由度机械臂的逆运动学求解与轨迹规划研究-软件工程专业毕业论文.pdfVIP

广东工业大学项士学位论文 ABSTRACT So far,the mechanical arl l as hi 【曲est degree technology products of AI has been involvedinmanufacturing，healthcare，a酣culture，e．g．Andmanipulatorkinematicsanalysis and trajectory planning has been one of the hotspot in researchers．This paper has took the GSK company’S six degrees of freedom Manipulator industry as．the research object,and has established the D-H model which is based on the structure parameters，analyzed the positive and inverse kinematics，and solved the inverse kinematics ofManipulator by using the PSO neural network algorithm．And on the basis of the inverse kinematics，this paper has proposed a method that using symmetric composite function to plan the trajectory in the joint space．Finally,building simulation models in ROS and MATLAB platform to verify the effectiveness ofthe proposed method． First,in order to provide the basis of the manipulator kinematic analysis，this paper has introduced the basic principles of robot homogeneous transformation in the spatial coordinates，the features of ROS and Robotics Toolbox simulation platform，as well as the procedures andprecautionsoftheuse ofD-Hstandardmethod for modeling． Then，according to the D-H standard method and structural parameters of a real manipulator,this paper has established a D—H coordinate model of the manipulator which has six degrees of freedom，determined the structure and optimize processes of the neural network，solved the inverse kinematics of Manipulator by using PSO neural network algorithm，gave the constraint relations between the executive manipulator end and joint variables．At the same time，this paper has also gave the comparison of different algorithms in inverse kinematics．And has done a simulation of the