码垛机器人修正正弦函数插值的轨迹规划  

The Trajectory Planning for Palletizing Robot Using Modified Sine Function Interpolation

作　　者：乔木[1] 于天彪[1] 李明[1] 王博[1] QIAO Mu;YU Tian-biao;LI Ming;WANG Bo(School of Mechanical Engineering and Automation Northeastern University,Liaoning Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《机械设计与制造》2018年第7期130-133,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51275084);沈阳市科技项目攻关项目(沈发改发[2012]212号)

摘　　要：针对应用在医药包装生产线上的码垛机器人在高速作业过程中存在的振动和冲击问题,提出了一种加速度函数为三段修正正弦函数的轨迹规划新算法,以完成对码垛机器人关节空间的轨迹规划。从实际生产中常用的规划曲线中选择运动性能俱佳的优良曲线,在此基础上对其进行修正,然后结合遗传算法以最大速度、最大加速度以及最大急动度为目标进行参数优化,获得最优修正参数,并对修正前后的正弦函数曲线性能进行对比分析。最后研究结果表明,该算法能够使得速度和加速度的峰值均降低4.09%,提高了码垛机器人的动态性能,同时为码垛机器人的轨迹规划设计提供理论依据。According to the problem of vibration and shock caused by palletizing robot applied in the pharmaceutical packaging production line in high-speed operation process,a new trajectory planning algorithm for three stage modified sine function was proposed to complete trajectory planning of the palletizing robot joint space. The excellent curves were selected from the planning curve commonly used in actual production,based on this,it is modified. Then correction parameter was optimized combining with the genetic algorithm with the multiple target of maximum speed,maximum acceleration and maximum jerk and the best correction parameter was obtained meanwhile the performance of sine function curve before and after the correction was compared. Finally the results indicate that the algorithm can reduce the peak value of the velocity and acceleration by 4.09%,improve the dynamic performance of palletizing robot and provide the theory basis for the palletizing robot trajectory planning and design.

关 键 词：修正正弦函数 轨迹规划 遗传算法 动态性能 

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]