基于时间最优的机器人多路径点轨迹规划  

Multi Path Point Trajectory Planning of Robot Based on Time Optimization

作　　者：张华文 刘子亮 ZHANG Hua-wen;LIU Zi-liang(Henan Industrial Robot Application Engineering Technology Research Center,Nanyang 473000,China;College of Automation Engineering,Henan Polytechnic Institute,Nanyang 473000,China;Tiandi Shanghai Mining Equipment Technology Co.,Ltd.,Shanghai 201401,China)

机构地区：[1]河南省工业机器人应用工程技术研究中心,南阳473000 [2]河南工业职业技术学院自动化工程学院,南阳473000 [3]天地上海采掘装备科技有限公司,上海201401

出　　处：《自动化与仪表》2022年第6期43-48,共6页Automation & Instrumentation

基　　金：河南省科技攻关项目(212102210368);南阳市科技计划项目(KJGG107)。

摘　　要：该文以六自由度工业机器人为研究对象,为使过多路径点时的运行轨迹平滑连续,同时提高运行效率,提出一种基于时间最优的多路径点轨迹规划算法。首先,分析只有起始和终止两点的运动轨迹,引入速度同步系数和加速度同步系数,基于二次抛物线加速度运行方式推算出位移、速度和加速度关于时间的表达式,并给出运行限制条件;其次,分析多路径点的运动轨迹,把每两个路径点之间看作是匀速运动,每个运动段之间用加速度连续变化的运动进行过渡;然后,分析算法设计的关键点,给出算法流程;最后,使用MATLAB进行算法仿真验证。结果表明,该算法保证了加速度、速度和位移的连续,实现各关节同步运行和时间最优,确保了机器人平滑高效运行。Taking the 6-DOF industrial robot as the research object,in order to make the trajectory smooth and continuous when there are too many path points and improve the operation efficiency,a multi-path point trajectory planning algorithm based on time optimization is proposed.Firstly,the motion trajectories with only the start and end points are analyzed.Two parameters,velocity and acceleration synchronization coefficient,are introduced.Based on the quadratic parabola acceleration operation mode,the expressions of displacement,velocity and acceleration with respect to time are calculated,and the operation constraints are given.Secondly,the trajectory of multi-path points is analyzed.Each two path points is regarded as a uniform motion,and the transition between each motion segment is carried out by the motion with continuous change of acceleration.Then,the key points of algorithm design are analyzed,and the algorithm flow chart is given.Finally,the algorithm is simulated and verified by MATLAB.The results show that the algorithm ensures the continuity of acceleration,velocity and displacement,realizes the synchronous operation and time optimization of each joint,and ensures the smooth and efficient operation of the robot.

关 键 词：工业机器人 多路径点 时间最优 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]