一种工业机器人连续轨迹规划过渡算法

发布时间：2019-01-09 11:38

【摘要】：提出一种用于工业机器人操作空间连续轨迹规划的平滑曲线过渡算法,以提高工业机器人在连续轨迹过渡时的运动速度.该算法的主要目的是在保证连续轨迹过渡精度和工业机器人物理约束的条件下充分发挥工业机器人的能力,尽量提高过渡区域的速度,减少过渡所需时间,同时尽可能地使计算过程简便,以便用于在线规划,提高算法的通用性.该算法以给定速度为零的路径衔接点为基准,根据过渡半径参数得到2个速度不为零的过渡节点,在过渡节点之间采用一种有限项的正弦级数进行曲线拟合.而在非过渡区域只需采取经典的起止速度及加速度满足约束值的直线轨迹规划算法或圆弧轨迹规划算法.通过MATLAB仿真和一种两自由度高速并联机械手的实验验证了该算法的效果.该算法可以实现典型路径的在线轨迹规划,且轨迹通常不随速度参数的更改而变化,计算过程简便,故具有较大的应用价值和发展空间.
[Abstract]:A smooth curve transition algorithm for the continuous trajectory planning of industrial robots is proposed to improve the speed of industrial robots during the continuous trajectory transition. The main purpose of this algorithm is to give full play to the capability of industrial robot under the condition of ensuring the accuracy of continuous trajectory transition and the physical constraints of industrial robot, to improve the speed of transition area as far as possible and to reduce the time required for transition. At the same time, the calculation process is as simple as possible, so that it can be used in online planning and improve the generality of the algorithm. In this algorithm, two transition nodes with non-zero velocity are obtained according to the transition radius parameters, and a finite sinusoidal series is used to fit the curve between the transition nodes. However, in the non-transition region, only the classical linear trajectory planning algorithm or arc trajectory planning algorithm is adopted, in which the starting and stopping velocity and acceleration satisfy the constrained values. The effectiveness of the algorithm is verified by MATLAB simulation and the experiment of a high speed parallel manipulator with two degrees of freedom. This algorithm can realize the online trajectory planning of typical paths, and the trajectory usually does not change with the change of velocity parameters, and the calculation process is simple, so it has great application value and development space.
【作者单位】：天津大学机构理论与装备设计教育部重点实验室;杭州娃哈哈集团有限公司机电研究院;
【基金】：国家自然科学基金资助项目(51135008)
【分类号】：TP242.2

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