基于3-5-3多项式插补的六轴机器人轨迹优化  

Six-axis Robot Trajectory Optimization Based on 3-5-3 Polynomial Interpolation

作　　者：冯建超 鲁文其[1] 林军华 鲁玉军[1] 岑国建 FENG Jianchao;LU Wenqi;LIN Junhua;LU Yujun;CEN Guojian(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Maider Medical Industry Equipment Co.,Ltd.,Taizhou 317607,China;Ningbo Zhongda Leader Intelligent Transmission Co.,Ltd.,Ningbo 315301,China)

机构地区：[1]浙江理工大学机械工程学院,浙江杭州310018 [2]迈得医疗工业设备股份有限公司,浙江台州317607 [3]宁波中大力德智能传动股份有限公司,浙江宁波315301

出　　处：《机械与电子》2023年第10期75-80,共6页Machinery & Electronics

摘　　要：为了解决3次多项式轨迹规划仅能保证位移和速度保持连续,无法保证加速度保持连续,且各关节加速度轨迹在起始点存在跳变,在末端点均不为0,容易造成关节电机启停抖动的问题,提出了一种基于3-5-3多项式插补轨迹规划控制方法。在3次多项式轨迹规划的基础上,通过插入2个插值点时间t,将路径划分为3段,根据设置的插值点时间t计算得到插值函数的系数a和插值函数的表达式。实验结果表明,引入3-5-3多项式插值函数后,各关节的加速度运算能够保持连续,各关节加速度轨迹能够保证在起始点和末端点均为0且不存在跳变,可以避免启停时产生抖动的问题,保证多轴机器人启停时的稳定性。In order to solve the problem that the 3 times polynomial trajectory planning can only guarantee the displacement and velocity to keep continuous,but cannot guarantee the acceleration to keep continuous,and the acceleration trajectory of each joint has jumps at the starting point and is not zero at the end point,which is easy to cause the joint motor start/stop jitter,a control method based on 3-5-3 polynomial interpolation trajectory planning is proposed.On the basis of 3 times polynomial trajectory planning,the path is divided into 3 segments by inserting 2 interpolation point times t.The coefficient a of the interpolation function and the expression of the interpolation function are calculated according to the set interpolation point time t.The experimental results show that after the introduction of the 3-5-3 polynomial interpolation function,the acceleration operation of each joint can be maintained continuously,and the acceleration trajectory of each joint can be guaranteed to be zero at the start and end points without jumping,which can avoid the problem of jitter when starting and stopping and ensure the stability of the multi-axis robot when starting and stopping.

关 键 词：多轴机器人 加速度优化 多项式插补 插值点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]