基于Jerk约束的Stewart平台在线轨迹规划  

On Online Trajectory Planning of Stewart Platform Based on Jerk Constraint

作　　者：李自帅 刘曰涛[1] 边宗政 曲东明 李智鹤 付连壮 LI Zishuai;LIU Yuetao;BIAN Zongzheng;QU Dongming;LI Zhihe;FU Lianzhuang(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学机械工程学院,淄博255049

出　　处：《组合机床与自动化加工技术》2023年第6期176-180,192,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51805299)。

摘　　要：为解决高精度Stewart平台在点位控制下生成平滑轨迹和在线更新轨迹问题,提出了一种基于Jerk约束的在线轨迹规划方法。首先,提出单自由度轨迹决策算法确定各自由度时间最优轨迹曲线;同时,为获得非线性轨迹方程目标最优解,提出基于Quasi-Monte Carlo和Brent算法的数值分析方法;然后,根据多自由度时间同步轨迹规划方法确定平台运动轨迹;最后,通过仿真实验验证算法实时性与可靠性。实验表明:算法满足毫秒级实时性要求,平台能够根据外部命令实时更新轨迹参数序列,最终使平台稳定到达目标运动状态。To solve the problem of generating a smooth trajectory and updating the trajectory online under the point control of a high-precision Stewart platform,an online trajectory planning method based on Jerk constraints is proposed.Firstly,a single-degree-of-freedom trajectory decision-making algorithm is proposed to determine the time-optimal trajectory curve of each degree of freedom.At the same time,in order to obtain the optimal solution of the nonlinear trajectory equation,a numerical analysis method based on Quasi-Monte Carlo and Brent algorithm is proposed.Then,the platform motion trajectory is determined according to the multi-DOF time-synchronized trajectory planning method.Finally,the real-time performance and reliability of the algorithm are verified by simulation experiments.Experiments show that the algorithm meets the millisecond-level real-time requirements,and the platform can update the trajectory parameter sequence in real-time according to external commands,and finally make the platform reach the target motion state stably.

关 键 词：STEWART平台 在线轨迹规划 运动学约束 时间最优 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]