工业装配机器人轨迹规划算法研究  

Research on trajectory planning algorithms for industrial assembly robots

作　　者：党宏社[1] 张梦腾 候金良[1] 白文静 DANG Hongshe;ZHANG Mengteng;HOU Jinliang;BAI Wenjing(School of Electrical and Information Engineering,Shaanxi University of Science and Technology,Xi’an 710021,China)

机构地区：[1]陕西科技大学电气与信息工程学院,陕西西安710021

出　　处：《现代电子技术》2019年第8期63-67,共5页Modern Electronics Technique

基　　金：陕西省社会发展科技攻关项目(2015SF275)~~

摘　　要：针对装配机器人运动过程中的振动和机构冲击问题,提出一种正弦加速、直线插补和五次多项式插值相结合的轨迹规划算法。采用正弦加速的插补算法解决了震动问题,采用分段轨迹规划的方法优化了机器人运动轨迹,减少了机构冲击。通过Matlab轨迹仿真和三菱rv-13f机器人实验验证表明,所提算法规划出的机器人运动轨迹连续、平滑且无冲击。通过与常用算法比较证明该算法提高了装配机器人运动的平滑性,有助于减少机构间的冲击,延长机器人的使用寿命。In allusion to the vibration and mechanism impact problems occurring in the motion process of the assembly robot,a trajectory planning algorithm combining the sinusoidal acceleration,linear interpolation and quintic polynomial interpolation is proposed. The sinusoidal accelerated interpolation algorithm is used to solve the vibration problem. The piecewise trajectory planning method is used to optimize the motion trajectory of the robot,and reduce the impact of the mechanism. A trajectory simulation using the Matlab and an experimental verification using the Mitsubishi rv-13 f robot were carried out. The results show that the robot motion trajectory planned out by the proposed algorithm is continuous,smooth,and without impacts;in comparison with the common algorithms,the algorithm can improve the motion smoothness of the assembly robot,and is helpful in reducing the impacts between mechanisms and prolonging the service life of the robot.

关 键 词：工业机器人 轨迹规划算法 正弦加速 直线插补 多项式插值 工件装配 运动学模型 

分 类 号：TN830.1-34[电子电信—信息与通信工程] TP242.2[自动化与计算机技术—检测技术与自动化装置]