| 码垛机器人的轨迹规划与仿真分析 |
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| 引用本文： | 叶辰雷,刘晓平,贠超.码垛机器人的轨迹规划与仿真分析[J].机械研究与应用,2013(5):26-30. |
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| 作者姓名： | 叶辰雷 刘晓平 贠超 |
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| 作者单位： | 1. 北京邮电大学 自动化学院,北京,100876
2. 北京航空航天大学 机器人研究所,北京,100191 |
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| 摘 要： | 针对码垛机器人在高速运行过程中产生的冲击问题，以优化运行节拍提高效率为目的对码垛机器人的运动轨迹进行规划。利用笛卡尔空间圆弧插补方法对运行轨迹进行优化，并在此基础上利用三次曲线插补对r关节运动轨迹进行了再次修正，基于Matlab建立模型对规划结果进行了仿真。结果表明通过轨迹曲线规划方法使得码垛机器人在运行过程当中满足了减小运行冲击和提高运行效率的要求。
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| 关 键 词： | 码垛机器人 轨迹规划 圆弧插补 仿真曲线 |
Trajectory Planning and Simulation for Pal letizing Robot |
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| YE Chen-lei
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LIU Xiao-ping
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YUN Chao.Trajectory Planning and Simulation for Pal letizing Robot[J].Mechanical Research & Application,2013(5):26-30. |
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| Authors: | YE Chen-lei LIU Xiao-ping YUN Chao |
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| Affiliation: | 1. School of Autoraation, Beijing University of Posts and Telecommunications Institute of Automation, Beijing 100876, China; 2 Robotics Institute, Beihang University, Beijing 100191, China) |
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| Abstract: | Aiming at the impact problems at the process of high-speed operation of the palletzing robot, trajectory of palleti- zing robot is planned in order to optimize operational tempo and improve the efficiency. Arc interpolation methods are used to optimize running track in a Cartesian coordinate system. On this basis, r-joint trajectory is corrected secondary using cubic spline interpolation, the planning conclusion is simulated based on Matlab model. The results show that palletizing robot opera- tion meets the requirements of reducing impact and improves the operation efficiency by this trajectory planning method. |
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| Keywords: | palletizing robot trajectory planning circular arc interpolation simulation curve |
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