机械臂路径特征点目标轨迹规划及试验分析  

Trajectory optimization of manipulator tracking target based on path feature point algorithm

作　　者：张钦 ZHANG Qin(Huai'an Bioengineering Branch,Jiangsu United Vocational and Technical College,Huai’an 223200,Chin)

机构地区：[1]江苏联合职业技术学院淮安生物工程分院,江苏淮安223200

出　　处：《技术与市场》2023年第7期37-39,共3页Technology and Market

摘　　要：传统机械臂轨迹规划算法存在控制精度不高以及时延较大的问题,为提高机械臂跟踪目标轨迹效率,设计了一种基于路径特征点算法的机械臂跟踪目标轨迹优化方法。利用相平面法调节使算法达到更高处理效率。研究结果表明:随着路径点数量增加,算法时间明显延长,设置多个路径点可以显著提升算法效率,整个计算过程所需的规划时间能够大幅缩短。该算法比其他路径规划算法耗时更短,且更适合于复杂路径。The traditional trajectory planning algorithm of manipulator has the problems of low control accuracy and large delay.To improve the tracking efficiency of manipulator,an optimization method of tracking target trajectory based on path feature point algorithm was designed.The phase plane method is used to adjust the algorithm to achieve higher processing efficiency.The results show that the algorithm time is significantly extended with the increase of the number of waypoints.Setting too many waypoints can significantly improve the algorithm efficiency,and the whole calculation process' s planning time can be significantly shortened.The proposed algorithm is shorter in time than other path-planning algorithms and is more suitable for complex paths.This research has good practical application value and is easy to be popularized.

关 键 词：机器臂 路径特征点 时间近似最优 轨迹规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]