摘要
在货物拣选机器人的建模与仿真研究中,常用的球棍机器人模型难以体现实际运动,且仿真运动过程可控性差,针对这一问题,提出了一种基于Visual Studio与V-REP的联合仿真方法。首先,运用D-H参数法建立了运动学模型,得到了运动学正逆解;然后,在V-REP中进行了碰撞检测与路径规划,以准确判断机器人是否与货架发生了碰撞或干涉;最后,编写了外部控制程序,通过API通信对机器人进行运动控制,可操控性能佳。仿真结果表明:机器人准确响应外部控制指令到达相应位置,能够生成正确的无碰撞拣选路径与机器人关节运动参数,验证了所建立的机器人运动学模型以及正逆解的准确性。
In the modeling and simulation research of robots,the robot model is often used to represent the robot,which is difficult to reflect the actual motion situation.In order to make the robot simulation process more realistic,a joint simulation method based on Visual Studio and V-REP is proposed.Firstly,the kinematic model was established by DH parameter method,and the forward and inverse solutions of kinematics were obtained.Then,in order to ensure the safety and efficiency of picking operations,the collision detection and path planning were carried out in V-REP.Finally,through the API communication,the robot model in V-REP was co-simulated in response to the external control program in Visual Studio.The simulation results show that the robot can accurately generate the correct collision-free picking path and the robot joint motion parameters in response to the external control command,verifying the accuracy of the established kinematics model and the forward and reverse solutions.
作者
任建新
黄民
刘相权
黄小龙
REN Jianxin;HUANG Min;LIU Xiangquan;HUANG Xiaolong(School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2020年第8期87-94,共8页
Journal of Chongqing University of Technology：Natural Science
基金
北京市科技计划项目(Z171100000817006)
北京市科技计划课题(Z191100001419009)
北京信息科技大学2019年促进高校内涵发展-“信息+”项目(5121911011)
北京市属高校高水平创新团队建设计划项目(IDHT20180513)。
