基于ADAMS的协作机械臂运动学分析与仿真

Kinematic Analysis and Simulation of Collaborative Robotic Arm Based on ADAMS

摘要: 本文以UR5协作机械臂为研究对象，采用标准D-H建模方法建立了机械臂的运动学模型，采用解析的方法，推导了其正、逆运动学求解表达式。针对机械臂逆运动学多解问题分析了在不同的选解标准下得到的逆解，最后通过5次多项式完成了对逆解在角度空间的规划并且在ADAMS环境中进行了运动仿真，测量机械臂末端执行器的运动轨迹和速度结果表明运动状态平稳且速度连续无突变，从而验证了方法的可行性。

Abstract: In this paper, the kinematic model of the UR5 collaborative robotic arm is established by using the standard D-H modelling method, and its positive and inverse kinematic solution expressions are derived by using the analytical method. In view of the inverse kinematics multi-solution problem of the robotic arm, the inverse solutions obtained under different selection criteria are analysed, and finally the planning of the inverse solutions in the angular space is completed by the 5th polynomial, and the motion simulation is carried out in the ADAMS environment, and the measurement of the motion trajectory and the velocity of the robotic arm end-effector shows a smooth state of motion and a continuous and non-sudden change of the velocity, which verifies the feasibility of the method.