摘要
六轴工业机器人作为现代智能制造的核心装备之一，在自动化生产中发挥着重要作用，其运动控制与轨迹规划技术直接影响作业精度和效率。为解决传统控制方法在复杂任务中表现出的动态性能不足及轨迹优化难题，本研究围绕六轴工业机器人的运动控制与轨迹规划展开深入探讨。通过引入基于模型预测控制的新型控制策略，结合非线性动力学建模，实现了对机器人关节空间的精确控制；同时提出一种融合时间最优与平滑约束的轨迹规划算法，有效提升了路径规划的实时性和鲁棒性。实验结果表明，所提出的控制方法能够显著降低跟踪误差，提高系统的动态响应能力，而优化后的轨迹规划方案则在保证路径平滑性的同时大幅缩短了运动时间。本研究的主要创新点在于将先进控制理论与智能优化算法相结合，突破了传统方法在高精度与高效能之间的权衡局限，为六轴工业机器人在复杂工况下的应用提供了新的技术支撑，具有重要的理论意义和工程价值。
关键词：六轴工业机器人；运动控制；轨迹规划；模型预测控制；时间最优平滑约束
Abstract
As one of the core equipment in modern intelligent manufacturing, six-axis industrial robots play a significant role in automated production, and their motion control and trajectory planning technologies directly affect operational accuracy and efficiency. To address the insufficient dynamic performance and trajectory optimization challenges exhibited by traditional control methods in complex tasks, this study conducts an in-depth investigation into the motion control and trajectory planning of six-axis industrial robots. By introducing a novel control strategy based on model predictive control and combining it with nonlinear dynamics modeling, precise control of the robot’s joint space is achieved. Simultaneously, a trajectory planning algorithm that integrates time optimality with smoothness constraints is proposed, effectively enhancing the real-time capability and robustness of path planning. Experimental results demonstrate that the proposed control method significantly reduces tracking errors and improves the dynamic response capability of the system, while the optimized trajectory planning approach substantially shortens motion time while ensuring path smoothness. The primary innovation of this research lies in the integration of advanced control theory with intelligent optimization algorithms, overcoming the limitations of traditional methods in balancing high precision and high efficiency. This provides new technical support for the application of six-axis industrial robots in complex working conditions, possessing important theoretical significance and engineering value.
Keywords：Six-Axis Industrial Robot; Motion Control; Trajectory Planning; Model Predictive Control; Time-Optimal Smooth Constraint
目 录
摘要 I
Abstract II
一、绪论 1
(一) 六轴工业机器人研究背景与意义 1
(二) 国内外研究现状分析 1
(三) 本文研究方法概述 2
二、六轴工业机器人运动学建模 2
(一) 运动学基础理论介绍 2
(二) 正向运动学建模分析 3
(三) 逆向运动学求解方法 3
(四) 运动学模型验证与优化 4
三、六轴工业机器人轨迹规划技术 4
(一) 轨迹规划基本原理 4
(二) 关节空间轨迹规划方法 5
(三) 笛卡尔空间轨迹规划研究 5
(四) 轨迹平滑性与实时性优化 6
四、六轴工业机器人运动控制策略 6
(一) 运动控制核心算法研究 6
(三) 基于模糊逻辑的控制方法 7
(四) 实验验证与性能评估 8
结 论 10
参考文献 11
