基于三次样条曲线的码垛机器人平滑轨迹规划方法  

Smoothing trajectory planning for palletizing robots based on cubic spline curve

作　　者：张玲[1] Zhang Ling(Department of Automation, Chongqing Industry Polytechnic College, Chongqing 401120)

机构地区：[1]重庆工业职业技术学院自动化学院,重庆401120

出　　处：《高技术通讯》2018年第1期78-82,共5页Chinese High Technology Letters

基　　金：国家自然科学基金(61403053)资助项目

摘　　要：以混联式圆柱坐标码垛机器人为对象,研究了高速码垛机器人在关节空间内快速平稳的轨迹规划问题。首先应用三次样条曲线对机器人轨迹进行规划,其次以路径点的逼近程度与轨迹曲线的参数连续性为参考,建立了机器人平滑轨迹优化模型,得到了基于三次样条曲线的码垛机器人平滑轨迹。仿真结果表明,给定不同的曲线最大拟合误差,机器人的运动轨迹优化效果不同,验证了该轨迹规划方法能够兼顾码垛机器人的运动平稳性与轨迹平滑连续的控制要求,减小其在加、减速过程中产生的机械振动。Taking a hybrid cylindrical coordinate palletizing robot as the research object,the fast and stable trajectory planning for high speed palletizing robots in joint space is studied. Firstly,the trajectory planning is performed by using the cubic spline curve,and secondly,the smooth trajectory based on the cubic spline curve is obtained by establishing the robot smooth trajectory optimization model with the approximation degree of the path point and the parameter continuity of the trajectory curve. The simulation results show that optimal trajectory of the robot is different from the maximum fitting error,and thus verify the trajectory planning method can guarantee the kinematic stability and continuous and smooth trajectory of the palletizing robot,which can reduce the mechanical vibration generated during the acceleration or deceleration process.

关 键 词：轨迹规划 三次样条曲线 平滑性 码垛机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]