基于NURBS算法的冗余机械臂轨迹规划

为有效抑制机械臂高速运动过程中的波动,提出一种基于NURBS(非均匀有理B样条)算法的七关节冗余机械臂轨迹规划方法。根据NURBS算法的性质,将关节运动路径点作为曲线控制点,根据绝对运动距离计算出非均匀节点矢量,把权因子作为控制变量进行速度、加速度条件约束,完成对由离散点组成的机械臂各关节特定轨迹进行逼近。通过计算机对建模和仿真,验证了该算法在冗余机械臂轨迹规划中的可行性和有效性。

Trajectory Planning of Redundant Manipulator Based on NRUBS

To effectively inhibit the fluctuations of the manipulator speed movement, an algorithm based on non-uniform rational B-splines (NURBS) curve for the trajectory planning of 7-DOF redundant manipulator was proposed. Depending on the nature of NURBS, make the points on motion path of the joint as the curve control points, calculate the non-uniform knot vector based on the absolute motion distance, regard the weight factor as one of the constrained variable to control the speed and acceleration, make the trajectory of the manipulator with a high accuracy approximation of predefined trajectory. This planning was obtained by establishing coordinate system and creating kinematic model through geometrical analysis, and also using computer to simulate the planning trajectory. The experiment result shows that the effectiveness and feasibility of the proposed trajectory planning of redundant manipulator based on NRUBS are verified.