数控机床上下料机器人运动控制轨迹优化研究  

Motion Control Trajectory Optimization of Loading and Unloading Robot For CNC Machine Tool

作　　者：刘尧 胡博 张辉 郭强 张勇军 李宏毅 LIU Yao;HU Bo;ZHANG Hui;GUO Qiang;ZHANG Yong-jun;LI Hong-yi(Instiute of Engineering Technology,University of Science and Technology Bejing,Beijing 100083,China;No.1 Dilling Company GWDC,Panjin 124010,China)

机构地区：[1]北京科技大学工程技术研究院,北京100083 [2]中国石油集团长城钻探工程有限公司钻井一公司,辽宁盘锦124010

出　　处：《测控技术》2021年第6期32-38,70,共8页Measurement & Control Technology

基　　金：中央高校基本科研业务费(FRF-TP-20-029A2)。

摘　　要：运动轨迹优化是工业机器人研究的一个重要领域。七段S型曲线是从传统的梯形加减速算法基础上发展而来的,尽管S型速度曲线控制算法提高了加减速过程中的稳定性,使运动过程中的速度变化连续,有较好的平滑性,但其加加速度仍存在阶跃变化问题,导致加速度存在明显的拐点,容易造成机器人在运动过程中发生冲击或振动。在上述研究的基础上,将多项式速度曲线控制算法与S型速度曲线控制算法相结合,提出了一种改进的S型速度曲线控制算法,通过优化加加速度,使其速度、加速度连续变化,曲线平滑性更好。在新代机械手臂控制系统下,对改进后S型速度曲线控制算法进行试验,证明所提出的算法在加减速过程中能够获得更加平滑的速度和加速度。Motion trajectory optimization is an important field for industrial robot research.The 7-segment Scurve is developed from the traditional trapezoidal acceleration and deceleration algorithm.Although the Scurve speed control algorithm improves the stability of acceleration and deceleration process,makes the acceleration and speed change continuous in the process of motion,and has better smoothness,but there is still the problem of jerk discontinuity,which leads to the obvious inflection point of acceleration and is easy to cause impact or vibration in the process of motion.On the basis of the above research,combining the polynomial speed curve control algorithm with the S-type speed curve control algorithm,an improved S-type speed curve control algorithm is proposed.By optimizing the acceleration,the speed and acceleration change continuously,and its smoothness is good.In SYNTEC manipulator control system,the improved S-type speed curve control algorithm is tested.The proposed algorithm can obtain more smooth speed and acceleration in the process of acceleration and deceleration.

关 键 词：加减速控制 上下料机器人 速度规划 S型速度曲线控制算法 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]