一种机器人最优加速度轨迹规划算法研究  

Research on robot trajectory planning algorithm with optimal acceleration

作　　者：赵亮[1] 仲崇权[1] 郑飞翔 

机构地区：[1]大连理工大学电子信息与电气工程学部,辽宁大连116024 [2]华为数字技术有限公司,江苏苏州215000

出　　处：《大连理工大学学报》2017年第2期177-183,共7页Journal of Dalian University of Technology

基　　金：国家自然科学基金资助项目(61472062);中央高校基本科研业务费专项资金资助项目(DUT15ZD230;DUT16RC(4)20);国家科技支撑计划资助项目(2015BAF20B02)

摘　　要：针对机器人调试过程中遇到的超限问题,提出了一种满足运动约束的加速度最优T型速度曲线控制方法,利用拉格朗日法分析了码垛机器人的动力学性能,论述了机器人轨迹规划算法的实现过程.该算法在保证运动平稳的基础上,充分发挥了驱动关节的驱动性能.与传统速度曲线的对比表明,无论单轴还是轴组模式下,机器人的控制效果均得到了明显的提高.In order to solve the problem of overrun in the process of robot debugging, a control method with optimal acceleration is proposed based on T type velocity curve under motion constraint. The dynamics performance of the palletizing robot is analyzed by using Lagrange method and the realization process of robot trajectory planning algorithm is discussed. This algorithm makes full use of the driving performance of the driving joint on the basis of smooth and stable movements. Compared with the traditional velocity curves, the control effect of the robot is significantly improved both in the singie axis mode and the axis group mode.

关 键 词：码垛机器人 动力学 轨迹规划 最优加速度 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]