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针对6R工业机器人工作过程中要求运动平稳且轨迹光滑连续的问题,提出用三次均匀B样条曲线对各关节进行轨迹规划。分析了三次B样条曲线的反算过程,并以PUMA560机器人为例在关节空间插值得到其运动轨迹。基于CATIA和ADAMS对机器人各关节角的位移、速度和加速度等运动学参数进行仿真验证。
In order to solve the problem that the 6R industrial robots require smooth movement and smooth trajectory during the working process, a three-time uniform B-spline curve is proposed to track each joint. The backcalculation process of cubic B-spline curve is analyzed. Taking PUMA560 robot as an example, the motion trajectory is interpolated in joint space. Based on CATIA and ADAMS, kinematic parameters such as displacement, velocity and acceleration of each joint angle of robot were simulated and verified.