机器人关节空间轨迹规划研究进展  

Research progress of joint space trajectory planning for robots

作　　者：李尉 邓朝晖[1,2] 葛吉民 刘伟[1,2] 李重阳[1,2] Li Wei;Deng Zhaohui;Ge Jimin;Liu Wei;Li Zhongyang(Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult-to-Cut Material,Hunan University of Science and Technology,Hunan Xiangtan,411201,China;School of Mechanical Engineering,Hunan University of Science and Technology,Hunan Xiangtan,411201,China)

机构地区：[1]湖南科技大学难加工材料高效精密加工湖南省重点实验室,湖南湘潭411201 [2]湖南科技大学机电工程学院,湖南湘潭411201

出　　处：《机械设计与制造工程》2022年第10期15-23,共9页Machine Design and Manufacturing Engineering

基　　金：湖南省自然科学省市联合基金项目(2021JJ50116);长株潭国家自主创新示范区专项(2017XK2302)。

摘　　要：详细阐述了机器人关节空间轨迹规划研究现状,分析了基本轨迹规划中的多项式插值的轨迹规划、样条曲线插值的轨迹规划和最优轨迹规划中的单目标最优的轨迹规划、多目标最优的轨迹规划的原理及其实现过程,对比分析了各种轨迹规划方法的优势与不足,最后对未来机器人关节空间轨迹规划的研究方向进行了展望。This paper expounds the research status of robot joint space trajectory planning in detail,and analyzes the trajectory planning of polynomial interpolation in basic trajectory planning,the trajectory planning of spline curve interpolation and the optimal trajectory planning of single-objective optimal trajectory planning,multi-objective optimal trajectory planning.The principle and implementation process of optimal trajectory planning are compared,and the advantages and disadvantages of various trajectory planning methods are compared and analyzed.Finally,the future research direction of robot joint space trajectory planning is prospected.

关 键 词：机器人 轨迹规划 最优轨迹 多目标优化 研究进展 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]