《厦门大学学报（自然科学版）》

提出了联合MATLAB和V-REP进行机器人加工轨迹生成和运动仿真的方法.该方法首先在MATLAB中,计算机器人操作空间中刀具的轨迹,并通过逆运动学计算获得刀具轨迹对应的关节参数.然后在V-REP中,采用基于关节和连杆统一坐标系的建模方法,建立与刀轨文件一致的机器人及其加工环境的三维模型.最后通过MATLAB中的外部控制程序和V-REP中的控制脚本、MATLAB和V-REP之间的通信接口,使V-REP中的机器人模型响应外部控制程序进行运动仿真和碰撞检测.采用所提出的方法对密胺脂餐具盘的机器人铣边过程进行了仿真,仿真结果表明该方法能够生成无干涉加工轨迹和正确的机器人关节运动参数.

A method of machining path generation and motion simulation of robots is presented by integrating MATLAB and V-REP.First,in MATLAB,the tool path in the robot operating space is calculated,and the joint parameters corresponding to the tool path are obtained by inverse kinematics calculations.Then,in V-REP,the modeling method based on unified coordinate systems of joints and links is used to build 3D models of robot and its machining environment which is consistent with the tool path file.Finally,through the external control program in MATLAB and the control script in V-REP,and the communication interface between MATLAB and V-REP,the robot model in V-REP responds to the external control program for motion simulation and collision detection.After the edge milling process of a melamine tableware by a robot is simulated by our method,simulation results show that our method can generate interference free tool paths and correct motion parameters of robots.

引言
1 基于关节和连杆统一坐标系的机器人建模方法
2 基于工件三维模型的机器人加工轨迹生成
3 MATLAB与V-REP联合仿真
4 仿真实验
5 结论

图1 连杆坐标系的定义<br/>Fig.1 Definitions of the link-pole coordinate systems

图1 连杆坐标系的定义
Fig.1 Definitions of the link-pole coordinate systems

表1 旋转关节对应的8种连杆形式<br/>Tab.1 8 types of link-poles corresponding to rotational joints

表1 旋转关节对应的8种连杆形式
Tab.1 8 types of link-poles corresponding to rotational joints

图2 旋转关节对应的8种连杆的简化三维模型<br/>Fig.2 Simplified 3D model of the 8 types of link-poles corresponding to rotational joints

图2 旋转关节对应的8种连杆的简化三维模型
Fig.2 Simplified 3D model of the 8 types of link-poles corresponding to rotational joints

图3 相邻两连杆的简化模型及其模型树<br/>Fig.3 Simplified model of two adjacent link-poles and corresponding model tree

图3 相邻两连杆的简化模型及其模型树
Fig.3 Simplified model of two adjacent link-poles and corresponding model tree

图4 通过CAD/CAM软件获取的刀轨和APT文件<br/>Fig.4 Tool paths and APT files obtained through CAD/CAM softwares

图4 通过CAD/CAM软件获取的刀轨和APT文件
Fig.4 Tool paths and APT files obtained through CAD/CAM softwares

图5 机器人和工件的相互位姿关系<br/>Fig.5 The pose relationship between a robot and a workpiece

图5 机器人和工件的相互位姿关系
Fig.5 The pose relationship between a robot and a workpiece

图6 FANUC-M10I机器人的连杆坐标系<br/>Fig.6 Link-pole coordinate systems of FANUC-M10I robot

图6 FANUC-M10I机器人的连杆坐标系
Fig.6 Link-pole coordinate systems of FANUC-M10I robot

表2 FANUC-M10I型机器人的连杆参数<br/>Tab.2 Link-pole parameters of FANUC-M10I robot

表2 FANUC-M10I型机器人的连杆参数
Tab.2 Link-pole parameters of FANUC-M10I robot

图7 FANUC-M10I机器人铣边过程的运动仿真<br/>Fig.7 Motion simulation of milling process of FANUC-M10I robot

图7 FANUC-M10I机器人铣边过程的运动仿真
Fig.7 Motion simulation of milling process of FANUC-M10I robot

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引言

1 基于关节和连杆统一坐标系的机器人建模方法

2 基于工件三维模型的机器人加工轨迹生成

3 MATLAB与V-REP联合仿真

4 仿真实验

5 结论

学报简介

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