CAJ | 학술논문

工业机器人作为现代工业不可或缺的一部分，对其进行轨迹规划的研究十分重要。鉴于在笛卡尔空间内进行轨迹规划的种种困难，更为可行的办法是在关节空间内进行轨迹规划。5次多项式曲线可以在位置、速度、加速度都存在约束的情况下，对机器人轨迹进行拟合。最后通过840 D 的“The handling transformation package”模块对SCARA 机器人进行配置，确定 DH 参数，使用改进的Matlab Robotics Toolbox对其建模，进行轨迹规划的仿真。通过研究SCARA机器人的轨迹规划，发现数值解法费时、不精确，标准化工业机器人的结构设计来获得其解析解，是今后的重要发展方向。
공업궤기인작위현대공업불가혹결적일부분，대기진행궤적규화적연구십분중요。감우재적잡이공간내진행궤적규화적충충곤난，경위가행적판법시재관절공간내진행궤적규화。5차다항식곡선가이재위치、속도、가속도도존재약속적정황하，대궤기인궤적진행의합。최후통과840 D 적“The handling transformation package”모괴대SCARA 궤기인진행배치，학정 DH 삼수，사용개진적Matlab Robotics Toolbox대기건모，진행궤적규화적방진。통과연구SCARA궤기인적궤적규화，발현수치해법비시、불정학，표준화공업궤기인적결구설계래획득기해석해，시금후적중요발전방향。
Industrial robots is an indispensable part of modern industrial, it is very important to study trajec-tory planning of industrial robots. Since there are difficulties to study trajectory planning in Cartesian coordi-nates, researching trajectory planning in joint coordinates is a more feasible method. Quintic Polynomial curve can match robot's trajectory in the case that position, velocity, acceleration are all constrained. In the end, configuring SCARA robot, determining DH parameter, mathematically modeling with the improved Robotics Toolbox toolbox in Matlab and simulating trajectory planning, through “The handling transforma-tion package” module of 840D. Through studying trajectory planning of SCARA robot, we found that the numerical solution was time-consuming and inaccuracy, to get the analytical solution of the industrial robot, standardization of structure design is one of the important development direction in the future.