基于多项式拟合插值函数的码垛机器人轨迹规划
发布时间：2019-06-16 19:29
【摘要】：以四自由度码垛机器人为研究对象,基于关节空间提出一种新型多项式拟合插值的运动轨迹规划方法。该方法不仅能够保证其速度、加速度甚至冲击有界且连续,还可得到不同限制条件下机器人最短执行时间;同时根据码垛机器人的特殊结构和特定运动模式,基于机器人末端运行路径实现了对关节运动过程的进一步合并优化,使得编程控制简单化。基于MATLAB软件对拟合曲线实现了仿真,分析对比了对称型及非对称型拟合曲线各自的性能。最后,在TRIO Motion Perfect软件环境下实现了码垛机器人实验运动控制。结果表明,该运动轨迹规划方法准确可行且工作效率高。
[Abstract]:Taking the four-degree-of-freedom palletizing robot as the research object, a new trajectory planning method based on joint space is proposed. This method can not only ensure that the velocity, acceleration and even impact are bounded and continuous, but also obtain the shortest execution time of the robot under different constraints. At the same time, according to the special structure and specific motion mode of the palletizing robot, the further combination and optimization of the joint motion process is realized based on the end running path of the robot, which simplifies the programming control. Based on MATLAB software, the fitting curve is simulated, and the performance of symmetric and asymmetric fitting curve is analyzed and compared. Finally, the experimental motion control of palletizing robot is realized in TRIO Motion Perfect software environment. The results show that the motion trajectory planning method is accurate and feasible and the working efficiency is high.
【作者单位】： 南京理工大学能源与动力工程学院;
【分类号】：TP242
[Abstract]:Taking the four-degree-of-freedom palletizing robot as the research object, a new trajectory planning method based on joint space is proposed. This method can not only ensure that the velocity, acceleration and even impact are bounded and continuous, but also obtain the shortest execution time of the robot under different constraints. At the same time, according to the special structure and specific motion mode of the palletizing robot, the further combination and optimization of the joint motion process is realized based on the end running path of the robot, which simplifies the programming control. Based on MATLAB software, the fitting curve is simulated, and the performance of symmetric and asymmetric fitting curve is analyzed and compared. Finally, the experimental motion control of palletizing robot is realized in TRIO Motion Perfect software environment. The results show that the motion trajectory planning method is accurate and feasible and the working efficiency is high.
【作者单位】： 南京理工大学能源与动力工程学院;
【分类号】：TP242
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