工业机器人轨迹规划研究现状综述  

Review of Research State of Trajectory Planning for Industrial Robots

作　　者：龙樟 李显涛 帅涛 温飞娟 冯文荣 梁春平[1,2] LONG Zhang;LI Xiantao;SHUAI Tao;WEN Feijuan;FENG Wenrong;LIANG Chunping(School of Engineering,Southwest Petroleum University,Nanchong 637000,Sichuan,China;Nanchong Key Laboratory of Robotics Engineering and Intelligent Manufacturing,Southwest Petroleum University,Nanchong 637000,Sichuan,China)

机构地区：[1]西南石油大学工程学院,四川南充637000 [2]西南石油大学机器人工程与智能制造南充市重点实验室,四川南充637000

出　　处：《机械科学与技术》2021年第6期853-862,共10页Mechanical Science and Technology for Aerospace Engineering

基　　金：南充市市校科技战略合作项目(18SXHZ0008、19SXHZ0041);西南石油大学课外开放实验重点项目(NKSZ19005)。

摘　　要：凭借良好的环境适应性、高效率、高生产质量以及7×24工作模式,工业机器人广泛地应用于喷涂、焊接、码垛、搬运等自动化生产中。轨迹规划是工业机器人完成作业任务运动控制的基础,直接决定了机器人工作质量。为了全面了解轨迹规划现有研究方法,首先阐述了轨迹规划的基本流程,根据轨迹规划的原理不同对现有轨迹规划方法进行了分类,并分别对各种插补曲线函数、最优轨迹规划以及求解算法的性能特点进行了详细的分析与总结。最后对轨迹规划在插补曲线构造和求解算法方面的现存问题做出了分析和讨论,并展望了轨迹规划的发展趋势。With good environmental adaptability,high efficiency,high production quality and 7×24 working mode,industrial robots are widely used in the automated manufacturing such as spraying,welding,palletizing and handling.Trajectory planning is the basis for the motion control of the industrial robot to complete the task,and directly determines the quality of the robot′s work.In order to fully understand the current research methods of trajectory planning,the basic process of trajectory planning is firstly expounded,and the existing trajectory planning methods is classified in terms of the different principles.The performance characteristics of the interpolation curve functions,optimal trajectory planning and solving algorithm are analyzed and summarized in detail.Finally,the existing problems of the trajectory planning for constructing the interpolation curve and the solving algorithm are analyzed and discussed,and the developmental trend of trajectory planning is predicted.

关 键 词：工业机器人 轨迹规划 最优轨迹 曲线插补 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]