工业机器人冲击最优的轨迹规划算法

轨迹规划是工业机器人控制的一个重要组成部分,它对机器人性能的提高有着关键作用,为了解决目前笛卡尔空间轨迹规划加速度不连续,导致机器人运行过程中冲击过大而产生振动、机械磨损、使用寿命缩短等问题,研究冲击最优的轨迹规划算法。用S形速度曲线代替梯形速度曲线,对B样条进行插补,插补后得到笛卡尔空间的位置、速度、加速度参数,反推到关节空间进行仿真验证,仿真结果表明,利用S形速度曲线插补时各关节加速度连续,冲击有了明显减小。

Jerk-optimal Trajectory Planning Algorithm of Industry Robot

Trajectory planning is an important part of the industrial robot control,it plays a critical role in improving the performance of the robot.In order to solve the problem caused by the acceleration discontinuities in Cartesian space schemes,such as excessive Jerk in the movement process,mechanical wear,shorter service life and so on,research on Jerk-optimal trajectory planning algorithm.Using S-curve instead of trapezoidal motion profiles and B-spline interpolation to get the positions, velocities,accelerations in Cartesian space.Then positions,velocities and accelerations series in joint space are obtained by applying inverse kinematic algorithm.The simulating results show that the angular accelerations in each joint are continuous and Jerk has been significantly reduced.