关节速度约束下六轴机械臂空间运动轨迹规划方法  

Spatial Trajectory Planning Method of Six Axis Manipulator under Joint Velocity Constraints

作　　者：朱峰刚 ZHU Fenggang(Engineering Skills Practical Training College,Xinjiang Institute of Engineering,Urumqi 830023,China)

机构地区：[1]新疆工程学院工程技能实训学院,新疆乌鲁木齐830023

出　　处：《机械与电子》2023年第3期44-49,共6页Machinery & Electronics

基　　金：国家级大学生创新创业项目(202110994008)。

摘　　要：六轴机械臂在空间运动时,极易因速度和加速度突变导致运动轨迹出现随机波动,无法做连续性的运动。基于此,提出一种关节速度约束下机械臂空间运动轨迹规划方法。从运动学正解和逆解2个方面对机械臂建模,利用上关节D-H法分析同一位姿下,基座与末端执行器间的总变换过程。将不同的关节转角组合,辅助后续最优轨迹规划。利用三次和五次多项式插值构建末端执行器的插值函数,以执行器在不同坐标下关节角度为参考变量,求得角度、角速度和角加速度的值,完成运动轨迹规划。仿真实验表明,所提方法的运动轨迹可保证机器人平稳运行,连续性得到提高,从起始点至终止点整个过程中都没有出现明显震动情况。When the six axis manipulator moves in space,it is very easy to cause random fluctuations in the trajectory due to sudden changes in velocity and acceleration,and fail to make continuous motion.Based on this,a spatial trajectory planning method of the manipulator under joint velocity constraints is proposed.The manipulator is modeled from the forward and inverse kinematics solutions,and the total transformation process between the base and the end effector is analyzed by using the upper joint D-H method.Different joint angles are combined to help the subsequent planning of the optimal trajectory.The interpolation function of the end effector is constructed by cubic and quintic polynomial interpolation.Taking the joint angle of the actuator in different coordinates as the reference variable,the values of angle,angular velocity and angular acceleration are obtained to complete the motion trajectory planning.In the simulation experiment,the trajectory of the proposed method can ensure the smooth operation of the robot and improve the continuity.There is no obvious vibration from the starting point to the ending point.

关 键 词：关节速度约束 六轴机械臂 空间运动轨迹 运动学正解 五次多项式插值 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]