改进B样条曲线应用于6R机器人轨迹优化  

Applications of Improved B-Spline Curves to 6R Robot Trajectory Optimization

作　　者：董甲甲 王太勇[1] 董靖川[1] 张永宾[1] 陶浩 

机构地区：[1]天津大学机械工程学院,天津300354

出　　处：《中国机械工程》2018年第2期193-200,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51475324);天津市应用基础与前沿技术研究计划资助重点项目(14JCZDJC39600)

摘　　要：利用D-H标架法建立了机器人的运动学模型,并在分析轨迹规划流程基础上将改进B样条曲线用于机器人关节空间轨迹插值;在论述改进原因并详细阐述改进B样条曲线的生成方法后,给出改进B样条曲线应用时的速度与加速度性质及算法实现细节;在MATLAB 2014a平台上进行仿真实验,利用改进方法实现圆弧轨迹运动。结果表明,该方法能够有效提高机器人在关节运动及空间轨迹的平滑性,进而可优化机器人的轨迹运动。A kinematics model of robots was established firstly by D-H frame method.Based on the analyses of trajectory planning processes,an improved B-spline curve was applied to the robot joint space trajectory interpolations.Secondly,after discussing the improvement reasons and elaborating the methods of improving the B-spline curves,the speed and acceleration properties,and the implementation details of the improved B-spline curves were given.Finally,simulation experiments were carried out on MATLAB 2014 aplatform,and the improved method was used to realize the circular trajectory.Results show that the method may improve the smoothness of robots in joint motions and spatial trajectories,and then optimize the trajectory motions of the robots.

关 键 词：工业机器人 轨迹优化 关节空间 改进B样条 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]