SCARA机器人点对点运动轨迹规划方法  

Trajectory Planning Method of Point-to-Point Motion for SCARA Robot

作　　者：赵登步 白瑞林 沈程慧 李新 

机构地区：[1]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122 [2]无锡信捷电气股份有限公司,江苏无锡214072

出　　处：《计算机工程》2015年第8期306-312,共7页Computer Engineering

基　　金：江苏高校优势学科建设工程基金资助项目(PAPD);江苏省产学研前瞻性联合研究基金资助项目(BY2012056)

摘　　要：为使选择顺应性装配机器手臂(SCARA)机器人运行点对点运动轨迹时,连续平滑且运行时间最优,提出一种基于时滞指数函数的速度轨迹规划方法。利用执行器工作时的限制条件获取时间增益,经运动学逆解获得机器人从初始位置到目标位置各关节空间需要运动的位移,根据该位移求取延迟时间,确定指数函数速度轨迹规划的表达式。通过与S形速度轨迹规划方法的对比分析结果表明,该方法计算量小,产生的轨迹连续平滑,近似时间较优。In the view of the trajectory of Point-to-Point（PTP） motion for Selective Compliance Assembly Robot Arm（SCARA）robot,in order to make the trajectory smoothly and time optimally with robot operation,this paper proposes a velocity trajectory planning method based on time-delay exponential function.Getting the time gain from executor’s limitation,the displacement is obtained from the initial position to the target position of each joint space.It is needed to move by the inverse kinematics of robot,and according to the joint space displacement to obtain the delay time.Determining the velocity trajectory planning expression of exponential function,through the simulation,it is combined with S-curve velocity trajectory method.Results show that the formula of the proposed method has small amount of calculation,the trajectory is smooth and the approximate time is optimal.

关 键 词：选择顺应性装配机器手臂机器人 轨迹规划 S形速度曲线 指数函数速度曲线 点对点运动 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]