作者：李国洪, 周琪钧
作者单位：天津理工大学 天津市复杂系统控制理论及应用重点实验室，天津 300384
关键词：STM32微控制器;工业机器人;正逆运动学;Matlab
摘要：
针对国内工业机器人市场基本为进口产品垄断以及高校对于工业机器人教育仍采用传统实物加示教演示等状况，该文设计开发一款基于STM32F407的经济型5R抓取机器人系统并将其运用于教学演示和简单操作应用。首先，根据DH法对该5R机器人运动学模型进行构建，并推算出其正逆运动学公式。运用Matlab软件中的Robotics Toolbox工具包进行运动学仿真，采用Monte Carlo法和jtraj函数对机器人工作空间及轨迹规划进行求解，最后通过实物平台进行相关验证。实验表明，该系统运行稳定、响应速度快、符合仿真结果，从而说明机器人控制系统设计的合理性，为工业机器人教育提供一种新的思路。
Research on kinematics analysis and control system of 5R series robot
LI Guohong, ZHOU Qijun
Tianjin Key Laboratory of Control Theory & Applications in Complicated Industry System, Tianjin University of Technology, Tianjin 300384, China
Abstract: In view of the situation that the domestic industrial robot market is basically monopolized by imported products and the industrial robot education still uses the traditional physical object to teach and demonstrate to students in universities, this paper designs and develops an economical 5R gripper robot system based on STM32F407 and applies it to teaching demonstrations and simple operations. Firstly, the kinematics model of the 5R robot was constructed according to the DH method, and forward & inverse kinematics formulas were deduced. The Robotics Toolbox in Matlab software was used for kinematics simulation. Monte Carlo method and jtraj function were used to solve the workspace and trajectory planning of the robot. Finally, the relevant verification was carried out through the physical platform. The experiments show that the system runs stably, responds quickly and matches the simulation results, which explains the rationality of the design of the robot control system, it provides a new idea for industrial robot education.
Keywords: STM32 MCU;industrial robot;forward and inverse kinematics;Matlab
2021, 47(11):21-27 收稿日期: 2021-05-07;收到修改稿日期: 2021-06-24
基金项目: 国家重点研发计划项目（2017YFB1303304）；天津市科委重点研发计划项目（18YFFCTG00040）。
作者简介: 李国洪（1968-），男，四川雅安市人，副教授，博士，主要从事电力电子、自动控制、机电一体化及网络控制研究
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