直角坐标机械手多轴联动路径规划研究

直角坐标机械手一般采用按步骤的单轴单向走直角运动,为了进一步提高该类机械手的定位速度,文章提出采用多轴联动的方式快速到达指定位置,利用多轴联动末端走曲线的方式取代传统的单轴单向运动。机械手的快速运行又给平稳性带来问题,通过对S曲线加减速算法的理论分析和应用研究,推导出了适合于机械手点位控制的加减速算法,以及各轴的路径规划方法,该算法的应用有效增加了系统运动的平稳性。

Research on the Path Planning for the Multi-axis Motion of Cartesian Coordinate Manipulator

Cartesian coordinate manipulator generally takes the steps of right angle motion that the single axis one-way goes.In order to further improve the positioning speed of the manipulator,this paper puts forward the way of fast access to designated location with multi-axes motion.The way that linkage end goes curve with multiaxial motion replaces single axis one-way movement.Fast running of the manipulator causes the problem in stability.By the theory analysis and application research of S-curve acceleration and deceleration method,a suitable position control method for manipulator is derived,as well as the path planning method of each axis,the application of the proposed method effectively increases the stability of the system.