基于S型速度曲线的机器人连续多轨迹规划  

Continuous Multipath Trajectory Planning of Robot Based on S-curve Velocity

作　　者：许哲[1,2] 朱海洋 王庆诚 XU Zhe;ZHU Haiyang;WANG Qingcheng(College of EngineeringScience and Technology,Shanghai Ocean University,Shanghai 201306,China;Shanghai Engineering Research Center of Marine Renewable Energy,Shanghai 201306,China)

机构地区：[1]上海海洋大学工程学院,上海201306 [2]上海海洋可再生能源工程技术研究中心,上海201306

出　　处：《机械设计与研究》2021年第6期59-65,共7页Machine Design And Research

基　　金：上海市联盟计划项目(D-8006-05-0031);上海市科学技术委员会资助项目(19DZ2254800)。

摘　　要：针对工业机器人在笛卡尔空间的多轨迹规划问题,设计出一种基于S型速度曲线的连续多路径平滑过渡算法。根据特征点坐标、半径调节参数和进给速度在路径拐角处建立國弧模型进行转接过渡,并采用四元数对姿态进行插补,建立空间直线与圆弧的位姿模型。在MATLAB平台上与首末速度为零的传统S型速度控制算法进行了连续多轨迹仿真实验对比。结果表明:与传统加减速控制算法相比,该算法的执行效率可提高近37.1%,并可实现多路径段间的平滑过渡,大大减少了机械冲击。Aiming at the multi-path planning problem of industrial robots in Cartesian space,a continuous multi-path smooth transition algorithm based on S-shaped velocity curve is designed.According to the coordinates of feature points,radius adjustment parameters and feed speed,a circular are model is established at the cormers of the path to transfer and transition,and the atitude is interpolated using quaternion to establish the pose model of spatial line and circular are.A continuous muli-trajectory simulation experiment is carried out on MATLAB and compared with the traditional S-curve speed control algorithm with zero velocity at the beginning and the end.The results show that compared with the traditional acceleration and deceleration control algorithm,the implementation efficiency of the proposed algorithm can be improved by 37.1%,and smooth transition between multi-path segments can be realized,and the mechanical impact is significantly reduced.

关 键 词：工业机器人 多轨迹规划 笛卡尔空间 S型速度曲线 四元数 平滑过渡 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]