关节型机器人曲线轨迹规划方法研究  

Research on curve trajectory planning method for articulated robot

作　　者：樊豪 徐立佳 鞠健阳 FAN Hao;XU Lijia;JU Jianyang

机构地区：[1]长安大学工程机械学院,陕西西安710064

出　　处：《现代机械》2023年第4期1-6,共6页Modern Machinery

摘　　要：为了实现关节型机器人在笛卡尔空间下的曲线轨迹规划,提出一种根据机器人末端所处位置与起点间曲线的长度规划机器人末端运行轨迹的方法。对于已知表达式的空间曲线,机器人末端从空间曲线的起点开始沿着曲线运行,先以3次多项式形式加速至匀速度,匀速运行一段时间后,再以3次多项式形式减速至0。根据规划好的速度规划轨迹,首先,求出整段曲线的长度;然后,根据设定的匀速运行速度求出机器人在曲线上的总运行时间;接着,从起点出发,求出当前时刻以及下一时刻机器人末端所处位置到起点之间的曲线段的长度,并求其差值;最后,根据曲线长度差值以及当前时刻机器人末端所处位置选择下一时刻机器人末端应到达的位置。通过MATLAB仿真验证了笛卡尔空间下曲线轨迹规划方法的正确性。In order to realize curve trajectory planning of the articulated robot in Cartesian space,a method for planning the trajectory of the robot end according to the length of the curve between the position of the robot end and the starting point is proposed.For the space curve with known expression,set the end of the robot to run along the curve from the starting point,accelerate to a uniform speed in the form of a cubic polynomial,run at a uniform speed for a period of time,and then decelerate to 0 in the form of a cubic polynomial.According to the planned speed,the trajectory is planned.Firstly,the length of the whole curve is calculated.Secondly,the total running time of the robot on the curve is calculated according to the set uniform running speed.Then,starting from the starting point,calculate the length of the curve segment from the position of the robot end at the current moment and the next moment to the starting point,and calculate the difference.Finally,according to the length difference and the position of the robot end at the current moment,select the position that the robot end should reach at the next moment.The correctness of the curve trajectory planning method in Cartesian space is verified by MATLAB simulation.

关 键 词：关节型机器人 轨迹规划 运动控制 空间曲线 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]