一种六关节机器人关节空间轨迹规划方法  

Trajectory planning method in joint space for 6-DOF robot

作　　者：董辉[1] 仲晓帆 黄胜[1] 

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2015年第3期336-339,345,共5页Journal of Zhejiang University of Technology

摘　　要：为提高六关节机器人运动效率,保证在最优时间内平滑地完成运动任务,提出一种关节空间轨迹规划方法.该轨迹规划方法首先通过D-H参数法,对机器人进行建模;在末端执行器轨迹上寻找若干个特征点,并通过逆运动学解得六个关节的关节角;采用5次非均匀B样条曲线定义速度、加速度可控的关节轨迹,并获得时间最优轨迹规划的非线性运动学约束条件;最后通过改进的粒子群算法求解关于时间最优的运动轨迹.A trajectory planning method in joint space for 6-DOF robot which will guarantee to complete the motion tasks smoothly within the optimal time and improve the efficiency of the robot motion is proposed in this paper. Firstly, the robot is modeled by using D-H method;then, a number of feature points are found on the end of actuator trajectory. The six joint angles are got through the inverse kinematics; Here, the fifth-order non-uniform b-spline curve is used to define the joint trajectory in which the speed and acceleration can be controlled. Then the non- linear kinematic constraints of the time-optimal trajectory can be obtained. Finally, by using the improved particle swarm optimization, the time-optimal trajectory with non-linear kinematic constraints is solved.

关 键 词：轨迹规划 时间最优 样条 关节空间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]