| Robot has been widely used in industry, agriculture, military, medical and other fields as one of the greatest invention of the twentieth Century. The application of robot can not only greatly reduce the labor cost, improve production efficiency, but also work for some complex and dangerous working environment, thus ensuring the personal safety of the staff. Robotics is the basis of the research and manufacture of robots,, including mathematics, kinematics, dynamics, control theory, artificial intelligence etc. Although the robotics is gradually improving, but there are many challenging areas which need us to study.MH-50motoman series robot production in Japan Yaskawa in six degrees of freedom robot is the research object of this thesis. The establishment of robot D-H coordinate system uses the Denavit-Hartenberg coordinate transformation method, then do forward and inverse kinematics analysis of robot, and deduce kinematics and inverse kinematics solution which are derived closed.Build a three-dimensional model, and the simulation of robot kinematics through the application of robotics toolbox in MATLAB, combining with D-H parameters. Then write MATLAB program, to the forward kinematics results as the theoretical basis, using Monte Carlo method. Using the Rand function to generate a random value, the RBI drawn three-dimensional working space of robot. Test whether there is a void or cavity. After the middle path of robot trajectory planning, Simulate the displacement, velocity and acceleration curves of the six joint in MATLAB, comparing simulation results to select the optimal planning method. In order to achieve the robot during exercise does not produce an acceleration of mutation, the purpose of which the motor running smoothly.By more than the MH-50-type six-degree-of-freedom robot, deepened the understanding of the series robot, robot dynamics and control part of the study and played a way, provides a theoretical basis and the necessary parameters for the independent design robot. |
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