机器人手臂的轨迹规划与动力学分析
摘 要
随着工业自动化和智能制造的快速发展，机器人手臂在工业生产、科学实验、医疗手术等领域的应用日益广泛。机器人手臂的轨迹规划与动力学分析是实现其高效、精确操作的关键技术。本研究首先探讨了机器人手臂的轨迹规划算法，包括基于多项式插值的轨迹规划方法、基于样条曲线的轨迹优化技术以及多目标约束下的轨迹规划策略。随后，对机器人手臂的动力学建模与分析进行了深入研究，构建了机器人手臂的动力学模型，并基于拉格朗日方程进行了动力学分析。在此基础上，本研究进一步提出了轨迹规划与动力学的集成优化方法，分析了轨迹规划与动力学的耦合关系，并设计了基于动态优化的集成控制策略。最后，通过实验验证和性能评估，验证了所提算法和模型的有效性和准确性。
关键词：机器人手臂；轨迹规划；动力学分析
TRAJECTORY PLANNING AND KINETIC ANALYSIS OF THE ROBOTIC ARM
ABSTRACT
With the rapid development of industrial automation and intelligent manufacturing, robotic arms are increasingly widely used in industrial production, scientific experiments, medical surgery and other fields. The trajectory planning and dynamics analysis of the robot arm is the key technique to realize its efficient and precise operation. Firstly, we explore the trajectory planning algorithms of robotic arms, including polynomial interpolation, spline-based trajectory optimization techniques, and trajectory planning strategies under multi-ob jective constraints. Subsequently, the dynamic modeling and analysis of the robot arm are thoroughly studied deeply, and the dynamic model of the robot arm is constructed, with kinetic analysis based on the Lagrangian equation. On this basis, this study further proposes an integrated optimization method for trajectory planning and dynamics, analyzes the coupling relationship between trajectory planning and dynamics, and designs an integrated control strategy based on dynamic optimization. Finally, the validity and accuracy of the proposed algorithm and model are verified by experimental validation and performance evaluation.
KEY WORDS：Robot arm; trajectory planning; kinetic analysis
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 研究背景及意义 1
1.2 研究现状 1
第2章 机器人手臂轨迹规划算法研究 3
2.1 基于多项式插值的轨迹规划方法 3
2.2 基于样条曲线的轨迹优化技术 3
2.3 多目标约束下的轨迹规划策略 4
第3章 机器人手臂动力学建模与分析 5
3.1 机器人手臂的动力学模型构建 5
3.2 基于拉格朗日方程的动力学分析 5
3.3 动力学参数辨识与验证方法 5
第4章 机器人手臂轨迹规划与动力学集成优化 7
4.1 轨迹规划与动力学的耦合关系分析 7
4.2 基于动态优化的集成控制策略 7
4.3 实验验证与性能评估 8
第5章 结论 9
参考文献 10
致 谢 11
摘 要
随着工业自动化和智能制造的快速发展，机器人手臂在工业生产、科学实验、医疗手术等领域的应用日益广泛。机器人手臂的轨迹规划与动力学分析是实现其高效、精确操作的关键技术。本研究首先探讨了机器人手臂的轨迹规划算法，包括基于多项式插值的轨迹规划方法、基于样条曲线的轨迹优化技术以及多目标约束下的轨迹规划策略。随后，对机器人手臂的动力学建模与分析进行了深入研究，构建了机器人手臂的动力学模型，并基于拉格朗日方程进行了动力学分析。在此基础上，本研究进一步提出了轨迹规划与动力学的集成优化方法，分析了轨迹规划与动力学的耦合关系，并设计了基于动态优化的集成控制策略。最后，通过实验验证和性能评估，验证了所提算法和模型的有效性和准确性。
关键词：机器人手臂；轨迹规划；动力学分析
TRAJECTORY PLANNING AND KINETIC ANALYSIS OF THE ROBOTIC ARM
ABSTRACT
With the rapid development of industrial automation and intelligent manufacturing, robotic arms are increasingly widely used in industrial production, scientific experiments, medical surgery and other fields. The trajectory planning and dynamics analysis of the robot arm is the key technique to realize its efficient and precise operation. Firstly, we explore the trajectory planning algorithms of robotic arms, including polynomial interpolation, spline-based trajectory optimization techniques, and trajectory planning strategies under multi-ob jective constraints. Subsequently, the dynamic modeling and analysis of the robot arm are thoroughly studied deeply, and the dynamic model of the robot arm is constructed, with kinetic analysis based on the Lagrangian equation. On this basis, this study further proposes an integrated optimization method for trajectory planning and dynamics, analyzes the coupling relationship between trajectory planning and dynamics, and designs an integrated control strategy based on dynamic optimization. Finally, the validity and accuracy of the proposed algorithm and model are verified by experimental validation and performance evaluation.
KEY WORDS：Robot arm; trajectory planning; kinetic analysis
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 研究背景及意义 1
1.2 研究现状 1
第2章 机器人手臂轨迹规划算法研究 3
2.1 基于多项式插值的轨迹规划方法 3
2.2 基于样条曲线的轨迹优化技术 3
2.3 多目标约束下的轨迹规划策略 4
第3章 机器人手臂动力学建模与分析 5
3.1 机器人手臂的动力学模型构建 5
3.2 基于拉格朗日方程的动力学分析 5
3.3 动力学参数辨识与验证方法 5
第4章 机器人手臂轨迹规划与动力学集成优化 7
4.1 轨迹规划与动力学的耦合关系分析 7
4.2 基于动态优化的集成控制策略 7
4.3 实验验证与性能评估 8
第5章 结论 9
参考文献 10
致 谢 11
