6-DOF抛光工业机器人关节空间轨迹规划研究  

Research on Joint Trajectory Planning of 6-DOF Polishing Robots

作　　者：王川 金晓怡[1] 陈志鹏 叶黎杰 WANG Chuan;JIN Xiao-yi;CHEN Zhi-peng;YE Li-jie(College of Mechanical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械工程学院,上海201620

出　　处：《机械设计与制造》2020年第11期271-274,共4页Machinery Design & Manufacture

基　　金：江西省赣州市科技重大专项项目(TGS2018-01-02);校企合作项目(17JX-010)。

摘　　要：以六自由度抛光工业机器人为研究对象,研究工业机器人在抛光特定工件时的轨迹规划问题。以工件待抛光曲面宽度中心选取10个点作为抛光作业路径关键点,针对三次多项式函数规划的轨迹出现角加速度有突变不光滑的问题,采用五次多项式插值算法对机器人轨迹进行规划,并对五次多项式函数插值方法中轨迹中间点角速度的设置方法提出改进,利用MATLAB进行机器人虚拟建模及轨迹规划仿真。仿真实验表明,角速度加权优化相对于角速度平均值优化,能使关节角速度和角加速度更加平滑,轨迹误差更小,有利于减小对电机的冲击,提升机器人抛光作业的稳定性。In this paper,the 6-DOF polishing robot is taken as the research object,and the problem of trajectory of polishing workpiece is discussed.Selecting ten points at the centre of workpiece to be polished as the key points in the polishing path.As the angular acceleration is not smooth when using three order polynomia for trajectory,this paper uses quintic polynomial to perform the trajectory planning,and optimizes the constrain method of angular velocity in the middle points with fifth order polynomial interpolation algorithm.The vitural model is established and the trajectory planning is simulated with MATLAB.Compared with the average optimization of angular velocity,simulation results show that the weighted optimization of angular velocity can make joint angular velocity,angular acceleration more smooth,and make the trajectory error smaller.This method can help reduce the impact to the motor and improve the stability of the robot polishing operation.

关 键 词：抛光工业机器人 轨迹规划 五次多项式 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]