曲线拟合在工业机器人关节轨迹规划中的应用与仿真  

Application and Simulation of Curve Fitting in Joint Trajectory Planningof Industrial Robot

作　　者：郭萍 GUO Ping(School of Intelligent Manufacturing,Wuhan Technical College of Communications,Wuhan,Hubei,430065,China)

机构地区：[1]武汉交通职业学院智能制造学院,湖北武汉430065

出　　处：《武汉职业技术学院学报》2023年第3期106-113,共8页Journal of Wuhan Polytechnic

基　　金：2022年度湖北省教育厅科研计划项目“SCARA型装配机器人轨迹规划与仿真研究”(项目编号:B2022590)。

摘　　要：工业机器人轨迹规划的优劣决定着机器人运行的平滑度、准确性和可靠性等,影响着机器人的控制性能。曲线拟合方法是目前常用的一种工业机器人关节轨迹规划算法,以SCARA机器人轨迹规划为研究对象,运用Matlab仿真综合比对了多项式曲线拟合、梯形曲线拟合和S形曲线拟合的优缺点,为工业机器人轨迹规划的研究提供参考,同时为后续研究机器人轨迹规划优化算法奠定基础。The trajectory planning of industrial robots determines the smoothness,accuracy and reliability of the robot operation,and affects the control performance of the robot.At present,curve fitting method is a common industrial robot joint trajectory planning algorithm.Based on the SCARA robot trajectory planning as the research object,this paper uses the Matlabsimulation to comprehensive contrast the advantages and disadvantages of polynomial curve fitting,trapezoidal curve fitting and S type curve fitting,in order to provide reference for the research of industrial robot trajectory planning and lay the foundation for the research of trajectory planning optimization algorithm.

关 键 词：轨迹规划 曲线拟合 SCARA机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]