多轨迹段平滑过渡的前瞻插补算法

针对轨迹规划时采用首尾速度为零的加减速控制方法中存在的频繁启停，以及末端执行器在插补过程中加速度过渡不平滑等问题，提出了一种基于非对称S形加减速控制的多轨迹段平滑过渡的前瞻插补算法.该算法在相邻轨迹段间采用圆弧模型对衔接拐角处平滑过渡，在给定轨迹衔接点坐标和过渡圆弧半径等参数的情况下，规划出衔接圆弧处的最优速度.对插补算法中归一化因子的求解，采用一种新型柔性加减速控制算法，该算法由余弦加减速曲线在直线形加减速曲线上拟合而成，减少了余弦加减速算法的运算量，保证了加速度控制的平稳性.试验结果表明，该算法可以实现多轨迹段衔接处的圆滑过渡，保证运动速度的平滑度与连续性，有效提升了末端执行器的运行效率.

Prospective Interpolation Algorithm for Smooth Transition of Multi-Trajectory Segments

Aiming at the problems of frequent start and stop in acceleration and deceleration control method with zero first speed and uneven acceleration transition of end-effector in interpolation process, a forward-looking interpolation algorithm for smooth transition of multi-trajectory segments based on asymmetric S-shape acceleration and deceleration control is proposed. The algorithm uses the arc model to smooth the transition at the connecting corner between adjacent track segments. Given the coordinates of the connecting point of the path and the radius of the transition arc, the optimal speed of the connecting arc is planned. A new flexible acceleration and deceleration control algorithm is used to solve the normalization factor in the interpolation algorithm. The algorithm is formed by fitting the cosine acceleration and deceleration curve on the linear acceleration and deceleration curve, which reduces the computation of cosine acceleration and deceleration algorithm, and ensures the stability of acceleration control. The experimental results show that the algorithm can realize the smooth transition at the joint of multiple track segments, ensure the smoothness and continuity of motion speed, and effectively improve the operation efficiency of the terminal actuator.