基于MATLAB的机器人逆运动学研究

第28卷第6期佳木斯大学学报(自然科学版)Vo.l28No.62010年11月JournalofJiamusiUniversity(NaturalScienceEdition)Nov.2010:1008-1402(2010)06-0824-03MATLAB1,1,RomanLaurischkat2(1.,200092;2.,):在进行工业机器人仿真建模过程中需要对机器人逆运动学进行求解,本文利用MATLABRobotics工具箱对KUKAKR360/1六轴工业机器人进行逆运动学建模,并将模型所得结果与KUKA机器人所测数据进行对比,用以验证模型的正确性.并对Robotics工具箱算法进行修改,最终得出具有实际应用价值的模型.:机器人;逆运动学;KUKAKR360/1;MatlabRoboticsToolbox;数值迭代法;lambda参数:O152.1:A0KUKAKR360/1,,,,,[1,2].,,.,,;[2].KUKAKR360/1,.3:,[3-5].,,.,,,,.1MATLABRoboticsToolbox1.1KUKAKR360/1RoboticsToolbox[6]DH.DH4:,d,a,.1KUKAKR360/1[7],DH(1).1KUKAKR360/1DH,RoboticsToolboxlink,MATLABdrivebot,,:2010-10-07:(DFG).:(1984-),,,DAAD,,,.第6期康嘉瑞,等:基于Matlab的机器人逆运动学研究,,.1KUKAKR360/1DH()a(mm)()d(mm)1-905000104520130000390-55004-9000102559000060002901.24X4MATLABRoboticsToolbox,4!4,4!4,.4!4,:H=nxsxaxdxnysyaydynzszazdz0001R=nxsxaxnysyaynzszaz,D=dxdydz.,.1.3,[4].RoboticsToolboxSimulink,MATLABroblocksSimlink.,,,Simulink.:functionqt=ikineKuka(tr)clearLL{1}=link([-pi/2500010450],∀standard#);L{2}=link([01300000-pi/2],∀standard#);L{3}=link([pi/2-55000pi],∀standard#);L{4}=link([-pi/20010250],∀standard#);L{5}=link([pi/20000],∀standard#);L{6}=link([0002900],∀standard#);K360=robot(L,∀KR360/1#);q=[-0.0063/180*pi0(90.0173-90)/180*pi0.0421/180*pi9.9855/180*pi-360.0331/180*pi]#;ilimit=1000;tol=1e-6;lambda=0.01;n=6;m=ones(6,1);m=logical(m);npoints=size(tr,3);qt=zeros(npoints,n);tcount=0;fori=1:npointsT=tr(:,:,i);nm=In;fcount=0;whilenmto,le=tr2diff(fkine(K360,q#),T);J=jacob0(K360,q);dq=lambda*pinv(J(m,:))*e(m);q=q+dq;nm=norm(dq);count=count+1;ifcountilimi,tfprintf(∀i=%d,nm=%f\n#,,inm);warning(sprintf(∀Solutionwouldn#∀tconverge,finalerror%.4g#,nm))breakendendqt(,i:)=q#;tcount=tcount+coun;tendend825佳木斯大学学报(自然科学版)2010年RoboticsToolboxlambda,,,.1.41.21.3MATLAB,Simulink,2.2RoboticsToolbox3,lambda0.01,4KUKAKR360/1,,,.342KUKAKR360/1,MATLABRobotics,64X4,,Simulink,,KUKAKR360/1,,.(848)826佳木斯大学学报(自然科学版)2010年,.2)Bs1Bs2,Bs3.3)GB50010,,.4)JTGD62ACI318EN1992-1-1SL/T191,.5)Mcr/Mk,Ecbh30/12,E.:[1],,.HRB500[c].,:.2004.[2].HRB500[D].:,2004.[3],.[J].,1994,(4):72-79.[4],,.,,2000.[5]GB50152∃92,[S].[6]GB50010∃2002,[S].[7]BuildingCodeRequirementsforStructuralConcrete(ACI318M02)andCommentary(ACI318RM02)sJ.AmerlcanConcreteInstitute,2002.AResearchonStiffnessofConcreteMembersReinforcedbyHighStrengthRebarsZHOUJian-min,DONGLi(DepartmentofArchitecturalEngineering,TongjiUniversity,Shanghai200092,China)Abstract:Withtheuseofhighstrengthreinforcemen,titseemsmoreimportanttocontrolandcalculatethedeformationofreinforcementbeams.28RCbeamswith500MPasteelweretestedandanalyzed,inordertostudytheirdeformationproperties.TheresultsshowedthatthestiffnessformulaofcurrentnationalstandardGB50010-2002andformulaproposedbyauthorwereingoodagreementwiththeexperimentaldata,andapplicabletothedeformcalculationofbeamswithhighstressrebars.Basedontheexperimentaldata,somedomesticstandardstiffnesscalculationmethodswerecomparedeachother,themainfactorsthataffectstiffnesswereanalyzed,andtheproposaloffurthersimplifyStiffnessformulawasgiven.Keywords:500MPastee;lshort-termstiffness;mid-spandeflection(826):[1]H.Meier,R.Laurischkat,C.Bertsch,S.Reese.PredictionofPathDeviationinRobotBasedIncrementalSheetMetalFormingbyMeansofanIntergratedFiniteElement-MultiBodySystemModel[J].KeyEnginneringMateria,l2009,Vols.410-411:pp365-372.[2]H.Meier,B.Buf,fR.Laurischkat,V.Smukala.IncreasingthePartAccuracyinDielessRobotBasedIncrementalSheetMetalforming[J].CIRPAnnals-ManufacturingTechnology,2009,Vols.58:pp233-238.[3]PaulRP.RobotManipulator:Mathematics,ProgrammingsandControl[M].Cambridge:MITPress,1981.[4]PaulRP,ShimnaoB,MayerEG.DifferentialKinematicControlEquationsforSimpleManipulator[J].IEEETransactionsonSystems,ManandCybernetics,June1981.Vo.lSMC-1I,NO.6.1.[5]PaulRP,ZhangH.InverseKinematicsforaPUMA560BasedontheEquations[J].TheInternationalJournalofRoboticsResearch,Summer1986.Vols.5,No.2,pp32-44.[6]CorkePI.ARoboticsToolboxforMatlab[J].IEEERoboticsandAutomationMagazine,1996,3(1):24-32.[7]KUKARobotGroup.KUKAKR360/1Parameter.TheInverseKinematicsSolutionofIndustrialRobotUsingMatlabKANGJia-riu1,FANLiu-qun1,RomanLaurischkat2(1.Chinese-GermanyCollege,TongjiUniversity,Shanghai200092,China;2.RuhrUniversityBochum,Bochum,German)Abstract:WiththehelpofMatlabRoboticsToolboxaninversekinematicsmodelwasbuiltforKUKAKR360/1robotandcomparedtheresultofmodelwiththedatefromKUKArobottovalidatetheMatlabmode.lAndtheinversekinematicsfunctionofRoboticsToolboxwasmodified,inordertogetareasonableresul.tKeywords:robo;tinversekinematic;KUKAKR360/1;MatlabRoboticsToolbox;iterativealgorithm;factorlambda848