基于混合多项式插值的工业机器人关节运动规划  

Joint motion planning of industrial robot based on hybrid polynomial interpolation

作　　者：普亚松 史耀耀[1] 蔺小军[1] 张文斌[2] 陈振[1] PU Yasong;SHI Yaoyao;LIN Xiaojun;ZHANG Wenbin;CHEN Zhen(School of Mechanical Engineering, Northwestern Polytechnical University, Xi′an 710072, China;College of Engineering, Honghe University, Mengzi 661199, China)

机构地区：[1]西北工业大学机电学院,陕西西安710072 [2]红河学院工学院,云南蒙自661199

出　　处：《西北工业大学学报》2022年第1期84-94,共11页Journal of Northwestern Polytechnical University

基　　金：航空发动机及燃气轮机重大专项基础研究(2017-Ⅶ-0002-0095);云南省高校重点实验室建设资助项目(2018ZD022)资助。

摘　　要：对于工业机器人速度约束的点到点关节运动规划,三次多项式规划存在角加速度不连续的问题,五次多项式规划方法需要预先设定目标点的角加速度值,容易引起角速度较大波动,3-5-…-5-3混合多项式规划因为五次多项式的存在,同样容易引起角速度较大波动。针对这些问题,提出一种三次多项式与四次多项式混合规划方法,第一段运动规划采用三次多项式插值,其余规划都采用四次多项式插值,在指定中间目标点角速度的同时,确保角加速度的连续性,且无需预先设定角加速度的值,避免角加速度预设定值不合理引起的角速度较大波动。并且为了避免运动规划中出现角速度峰值过大,提出了运动时间的计算方法,并设定2个目标点处较大速度为最大值,使得规划的角速度波动较小。通过算例验证了所提方法的合理性和有效性,与其他2种规划方法进行比较,有效解决了速度约束的点到点关节运动规划存在的问题,有利于提升工业机器人的工作性能和使用寿命。To plan an industrial robot′s point-to-point joint motion that has velocity constraints,the cubic polynomial interpolation planning method has angular acceleration discontinuity.The quintic polynomial interpolation planning method needs to set in advance the angular acceleration values of target points and easily causes angular velocity fluctuation.Because of the existence of quintic polynomials,hybrid polynomial planning 3-5-…-5-3 also easily causes large angular velocity fluctuation.To solve these problems,a hybrid polynomial interpolation planning method based on cubic and quartic polynomial interpolation is proposed.Cubic polynomial interpolation planning is applied to the first planning,and quartic polynomial interpolation planning is used for the rest of planning.The planning method can not only specify the angular velocities of intermediate target points but also ensure the continuity of angular acceleration.In addition,there is no need to set in advance the angular acceleration values of target points so as to avoid the angular velocity fluctuation caused by the unreasonable presetting of angular acceleration.Furthermore,in order to avoid excessive peaks of angular velocity during the joint motion planning,a calculation method for finding out reasonable motion time is put forward,under which the larger speed at two target points is taken as maximum,thus making the planned angular velocity fluctuation small.A case study is performed to verify the rationality and effectiveness of the planning method.Compared with the other two planning methods used for the case study,our planning method can effectively solve the problems of point-to-point joint motion planning with velocity constrains,therefore being beneficial to the working performance and service life of an industrial robot.

关 键 词：工业机器人 关节运动规划 点到点运动 速度约束 混合多项式插值 运动时间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]