Modeling And Analysis Of Six-degree-of-freedom Collaborative Robot

Cooperative robots can work together safely with humans in a work space without safety guards.Compared with traditional industrial robots,collaborative robots have the advantages of small footprint,easy installation,good safety,high accuracy,and drag-and-drop teaching.At present,collaborative robots have been widely used in medical,electronic equipment manufacturing,teaching research and other industries,and have very good development potential.Based on this,this article takes the UR10 six-degree-of-freedom collaborative robot produced by Universal Robot as the research object,and deeply studies the kinematics modeling problem of the six-degree-of-freedom collaborative robot,linear trajectory planning problem in Cartesian coordinate system,and differential kinematics and dynamic modeling issues.The details are as follows:(1)Taking the UR10 six-degree-of-freedom collaborative robot as the research object,the establishment process of its link coordinate system and the solution method of the coordinate transformation matrix are analyzed.Based on the analysis of the structural parameters and D-H rules of the UR10 six-axis collaborative robot,a positive kinematics model was established,and the inverse solution of the kinematics of the six-degree-of-freedom collaborative robot was solved according to the analytical method.Then,through the robot toolbox in MATLAB,the accuracy of the kinematics model of the six-axis collaborative robot was verified.Based on the robot's kinematics knowledge,a sinusoidal start-stop trajectory planning algorithm based on Cartesian coordinate system is proposed to solve the trajectory planning problem of collaborative robots,and simulation verification is performed.(2)According to the linear mapping relationship between the operating space of the collaborative robot and the joint space,the vector differential method is used to solve the speed Jacobian matrix,and the singularity of the cooperative robot is analyzed according to whether the determinant of the speed Jacobian matrix is full rank.And through the principle of virtual work,the force Jacobian matrix is obtained,and the force balance relationship between the robot's end actuator and the rotating joint is analyzed.(3)Using the Lagrangian function balance method,the dynamic model of the six-axis collaborative robot is derived,and how to use the forward and inverse dynamics functions in the MATLAB toolbox for simulation analysis is explained in detail.The Udwadia-Kalaba theory is adopted to solve the problem that the dynamic model established according to the Lagrangian functional balance method is difficult to solve the external binding force.