六自由度工业机械臂运动学仿真研究
Study on Kinematics Simulation for Six Degree-of-Freedom Industrial Robot Arms

为了解决传统插补方法机械臂运行缓慢的问题，采用一种构造雅可比函数的方式来对目标曲线进行插补，根据目标曲线计算出曲线上每个点的雅可比矩阵，形成雅可比矩阵函数，再将目标曲线拟合成末端速度函数，进而求得机械臂每个关节的角速度函数。实时计算机械臂的雅可比矩阵，根据机械臂末端需要的速度，计算出每个关节的速度，这样就能保证机械臂末端在工作空间每个位置的速度可控，同时使用KUKA KR30-3工业机器人模型对其进行仿真验证并就其在头盔加工方面进行仿真分析。仿真结果表明，在避开机械臂奇异位姿的情况下，根据末端位置函数能够计算出机械臂每个关节角的速度函数，并且能够保证速度的连续性。
In order to solve the traditional interpolation method of manipulator running slowly, this paper adopts a structuring Jacobi function approach to interpolation on the target curve, calculates the Jacobi matrix of each point on the curve according to the target curve, and forms a Jacobi matrix function. Then the target curve is fitted out the end effector speed function and each arm angular velocity function at the joint. Therefore, this paper calculates the Jacobi matrix of each position in real-time to obtain the speed of each joint according to end effector speed, which ensures that the end effector speed is controllable at each position in the workspace. At last, KUKA KR30-3 industrial robot model is used to simulate and validate this method, and its simulation analysis is done in helmet processing. The simulation results show that the speed function of each joint angle of manipulator can be calculated according to the end effector position function, and the continuity of velocity can be guaranteed when the singularity of the manipulator is avoided