双五次多项式过渡机械手轨迹规划  

The Trajectory Planning of Manipulator Double-Quintic Transition

作　　者：刘晓麟[1] 林仕高[1] 欧元贤[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机械设计与制造》2014年第4期40-43,共4页Machinery Design & Manufacture

摘　　要：笛卡尔空间中,机械手的轨迹运动一般是由多段连续的直线段或圆弧段接合在一起的。连续轨迹段间的过渡是基于笛卡尔空间轨迹规划中的难点,5次多项式过渡算法是机械手笛卡尔空间连续轨迹间位置过渡的主流算法。具有加速度连续的优点,但也存在过渡几何形状难以控制,最大加速度难以估算的缺点。针对这种情况,采用双5次多项式融合算法,实现过渡过程中的几何形状约束,最大加速度约束,同时给出最大加速度估算和允许的边界速度的表达式,实现直线-直线,圆弧-直线,圆弧-圆弧之间的平稳过渡。In Cartesian space, the trajectory of the manipulator is generally connected by multistage continuous straight line or arc segment joint together. The transition between continuous path segment in the Cartesian space trajectory planning is the dfficulty. The trajectory planning of manipulator in Cartesian space using quintic polynomial to generate transition curve of the conjoint curves is popular. Although there is benefit in acceleration continuity,and the geometric shape is easy to cause overshoot, also the value of the maximum acceleration of the manipulator ends is hard to estimate. So, it presents a new algorithm to achieve geometric shape control, and the maximum acceleration constraint. And the algorithm also presents the expression of estimating the maximum acceleration. This algorithm can be used in trajectories containing the units such as Line-Line ,Line-A rc ,A rc-A rc with the benefit of achieving a smooth transition.

关 键 词：轨迹规划 笛卡尔空间 双五次多项次过渡曲线 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]