曲线拟合的机械臂避障轨迹规划及仿真分析  

Trajectory Planning and Simulation Analysis of Robot Arm Obstacle Avoidance Based on Curve Fitting

作　　者：陈雨[1] 张晋轩[1] CHEN Yu;ZHANG Jin-xuan(Xingjian College of Science and Liberal Arts,Guangxi University,Nanning 530005,China)

机构地区：[1]广西大学行健文理学院,南宁530005

出　　处：《组合机床与自动化加工技术》2021年第9期162-164,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广西高校中青年教师科研基础能力提升项目(2020KY54017);广西高校中青年教师科研基础能力提升项目(2020KY54016)。

摘　　要：以埃夫特机械臂为研究对象,求解其正运动学解。结合实际生产中存在机械臂动作路线有障碍物的特殊情况,需要重新规划线路绕过障碍物达到目标点。首先分析了关节空间和笛卡尔空间两种不同轨迹规划方法,两者均达不到目标要求,最后采用最小二乘法拟合三维空间路径点的曲线,让机械臂沿着拟合曲线成功绕过障碍物。仿真结果表明,其各个关节的角度、角速度和角加速度的变化曲线光滑连续,无拐点、间断性变化,保证机械臂稳定平顺的运作,避免了突变引发的冲击震荡,降低机械性损伤,有效地提高机械臂的稳定性能和使用寿命。Takes EFORT manipulator as the research object and solves its forward kinematics solution.Combined with the special situation that there are obstacles in the action route of the manipulator in the actual production,it is necessary to replan the route to bypass the obstacles and reach the target point.Firstly,this paper analyzes two different trajectory planning methods in joint space and Cartesian space,both of which can not meet the target requirements.Finally,the least square method is used to fit the curve of path points in three-dimensional space,so that the manipulator can successfully bypass the obstacles along the fitting curve.The simulation results show that the change curve of the angle,angular velocity and angular acceleration of each joint is smooth and continuous,without inflection point and intermittent change,which ensures the stable and smooth operation of the manipulator,avoids the shock caused by mutation,reduces the mechanical damage,and effectively improves the stability performance and service life of the manipulator.

关 键 词：正运动学 关节空间 笛卡尔空间 最小二乘法 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]