一种工业机器人连续轨迹规划过渡算法  

An algorithm for segment transition in continuous trajectory planning of industrial robot

作　　者：许健[1] 梅江平[1] 段晓斌[1] 罗振军[2] 陈落根 

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300355 [2]杭州娃哈哈集团有限公司机电研究院,浙江杭州310020

出　　处：《工程设计学报》2016年第6期537-543,共7页Chinese Journal of Engineering Design

基　　金：国家自然科学基金资助项目(51135008)

摘　　要：提出一种用于工业机器人操作空间连续轨迹规划的平滑曲线过渡算法,以提高工业机器人在连续轨迹过渡时的运动速度.该算法的主要目的是在保证连续轨迹过渡精度和工业机器人物理约束的条件下充分发挥工业机器人的能力,尽量提高过渡区域的速度,减少过渡所需时间,同时尽可能地使计算过程简便,以便用于在线规划,提高算法的通用性.该算法以给定速度为零的路径衔接点为基准,根据过渡半径参数得到2个速度不为零的过渡节点,在过渡节点之间采用一种有限项的正弦级数进行曲线拟合.而在非过渡区域只需采取经典的起止速度及加速度满足约束值的直线轨迹规划算法或圆弧轨迹规划算法.通过MATLAB仿真和一种两自由度高速并联机械手的实验验证了该算法的效果.该算法可以实现典型路径的在线轨迹规划,且轨迹通常不随速度参数的更改而变化,计算过程简便,故具有较大的应用价值和发展空间.A new algorithm for obtaining concatenation curves between segments in operational space related to continuous trajectory planning of industrial robots is introduced,which is to improve motion speeds of industrial robots when they transit between segments.The main aim of the algorithm was to make full use of industrial robot,try to improve their speed and reduce the time needed in transition section with ensuring the precision in transition section and the physical constraints of industrial robot.And the computation procedure of the algorithm should be as simple as possible,so as to be easy for the online trajectory planning and improve the generality of the algorithm.The algorithm used the via-point as a reference to obtain two transition points according to the specified transition radius,and each transition point had a non-zero velocity.A novel finite sine series function was used to interpolate the trajectory between the transition points,while conventional linear or circular trajectory planning algorithms with boundary points satisfying velocity and acceleration constraints could be employed to interpolate the trajectory between transition points and other points.The effect of the algorithm was verified by simulation in MATLAB and experiment in a 2-DOFs high speed parallel manipulator.The algorithm can realizethe online trajectory planning of typical robot paths.Its trajectory is fixed even when path velocity is modified,and its computation procedure is relatively simple,and hence has much potential in many applications.

关 键 词：连续轨迹规划 操作空间 工业机器人 路径过渡 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]