基于5次非均匀B样条曲线的4自由度机器人轨迹规划  

Trajectory Planning of 4-DOF Robot Based on 5-Degree Non-Uniform B-Spline Curves

作　　者：王青[1] 叶明露 贾秀海 WANG Qing;YE Minglu;JIA Xiuhai(School of Mechanical and FEledtrical Engineering,Xi'an Polytechnie Universily,Xi'an 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048

出　　处：《轻工机械》2022年第6期7-13,21,共8页Light Industry Machinery

摘　　要：为降低工业机器人工作过程中的振动与冲击,减少磨损以延长使用寿命,课题组以某公司SCARA 4自由度机器人为研究对象,采用5次非均匀B样条曲线对其关节空间进行轨迹规划研究。利用弦长参数法和平均值法选取节点,将离散路径点作为型值点反解出B样条控制点;在端点处进行运动约束,通过指定的端点导矢,在MATLAB中进行仿真实验,并与5次多项式函数插值进行对比分析。分析结果显示:5次非均匀B样条插值出的机器人运行轨迹平稳连续,且各关节速度、加速度以及加加速度轨迹曲线亦光滑连续无突变。该插值方法可有效提高机器人工作的平稳性,非常适合于精确抓取和搬运领域。In order to reduce the vibration, shock and abrasion during the working process of the industrial robot, prolong the service life, the 5-dgree non-uniform B-spline curves was used to plan the trajectory of the SCARA 4-DOF robot. The nodes were selected by chord length parameter method and average value method, and the discrete path points were used as type value points to solve the B-spline control points inversely. The motion constraints were carried out at the endpoints, and the simulation experiments were carried out in MATLAB by specified the endpoints guide vectorsand compared with the result of 5-dgree polynomial function interpolation. The trajectory of the robot gained by 5-dgree non-uniform B-spline curves is stabler and smother than that gianed by quintic polynomial. The speed, acceleration and acceleration jerk of each joint are more continuous and smother too.The interpolation method of 5-dgree non-uniform B-spline curves can effectively improve the stability of the robot, and is very suitable for accurate grasping and handling.

关 键 词：工业机器人 轨迹规划 B样条曲线 弦长参数法 端点导矢 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]