基于五次B样条的机械手关节空间平滑轨迹规划  

Smooth Trajectory Planning Based on Five Degrees B-spline for Manipulators in Joint Space

作　　者：李小霞[1] 汪木兰[2] 刘坤[2] 蒋荣[3] 

机构地区：[1]常州大学机械工程学院,江苏常州213001 [2]南京工程学院先进数控技术江苏省高校重点建设实验室,南京211167 [3]南京工程学院机械工程学院,南京211167

出　　处：《组合机床与自动化加工技术》2012年第8期39-42,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：江苏省高校自然科学研究基金项目(05KJD210085);先进数控技术江苏省高校重点建设实验室开放基金项目(KXJ07118);南京工程学院科研基金项目(KXJ08038和KXJ08048)

摘　　要：为实现机械手作业轨迹平滑,关节轨迹的速度、加速度、加加速度保持连续,起始和停止的速度、加速度和加加速度可以任意配置,采用5次B样条曲线插值方法构造关节轨迹。推导了B样条曲线插值轨迹算法;通过VC++6.0开发平台,基于MFC框架类和OpenGL图形库仿真出机械手的运动过程,并绘制出各关节的位置、速度、加速度时间曲线图。仿真结果表明,该方法使机械手关节调整平滑且运动平稳,运动性能显著优于传统的三次样条轨迹规划。An interpolation method based on five degrees B-spline for manipulators trajectory planning in joint space is proposed to accomplish smooth trajectory adjustment. The B-spline interpolation algorithm can ensure the continuous of velocity, acceleration and jerk in joints moving process, also can achieve start and stop velocity, acceleration and jerk be any configuration. The manipulator trajectory is simula- ted out and the graphs of joints position-time, velocity-time and acceleration-time are drawn out through C ＋ ＋ 6.0 development platform based on MFC framework class and OpenGL graphics library. Simula- tion results show that, the proposed algorithm supplied manipulators with smooth adjustment of trajectory and stable movement of joints.

关 键 词：机械手 B样条 轨迹规划 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]