柔性抓取机器人时间最优轨迹规划方法  

Time-optimal Trajectory Planning Method for Flexible Grasping Robot

作　　者：王洋 殷跃红[1] 

机构地区：[1]上海交通大学机械与动力工程学院机器人研究所,上海200240

出　　处：《机电一体化》2023年第1期12-17,共6页Mechatronics

摘　　要：本文以自主设计的一款用于柔性抓取搬运作业的机器人为研究对象,对其抓取搬运过程的平稳性和快速性展开分析。机器人运行性能不仅关系到抓取搬运过程的平稳,还会影响机器人的使用寿命和工作效率,利用样条曲线良好的平滑性可以减小冲击,提升平稳性。本文采用三次三角样条插值法,在关节空间对机械臂的各个关节进行轨迹规划。在提高搬运效率方面,以各段样条函数插值时间之和建立目标函数,以各关节的角位移、角速度、角加速度为约束条件,采用改进型麻雀搜索算法(ISSA)进行时间优化求解。仿真分析表明:结合三次三角样条插值法和改进型麻雀搜索优化算法,可以在保证运动轨迹连续平滑的同时,缩短运行时间。In this paper,a robot designed independently for flexible grasping and handling is taken as the research object,and the stability and rapidity of its grasping and handling process are analyzed.The running performance of the robot is not only related to the smooth grasping and handling process,but also affects the service life and efficiency of the robot.The good smoothness of the spline curve can reduce the impact and improve the smoothness.In this paper,the cubic trigonometric spline interpolation method is used to plan the trajectory of each joint of the manipulator in the joint space.In order to improve the handling efficiency,the objective function was established by the sum of interpolation time of each segment spline function,and the improved sparrow search algorithm(ISSA)was used to solve the time optimization with the constraint conditions of angular displacement,angular velocity,angular acceleration and impact of each joint.Simulation analysis shows that the combination of cubic trigonometric spline interpolation and improved sparrow search algorithm can guarantee the continuous smooth trajectory without obvious mutation and shorten the running time.

关 键 词：轨迹规划 三次三角函数样条 麻雀搜索算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]