基于NURBS和Slerp插补机器人S型速度规划  

Research on S-Velocity Profile of Industrial Robot Based on NURBS Curve and Slerp Interpolation

作　　者：庞智慧 王桂荣 陈晓 PANG Zhi-hui;WANG Gui-rong;CHEN Xiao(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou Zhejiang 310018,China;Zhejiang Qiantang Robot and Intelligent Equipment Research Co.LTD,Hangzhou Zhejiang 310000,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州311018 [2]浙江钱塘机器人及智能装备研究有限公司,浙江杭州310000

出　　处：《计算机仿真》2023年第8期451-457,共7页Computer Simulation

基　　金：浙江省自然科学基金(LGG22F030001);浙江省重点研发计划资助项目(2020C01025)。

摘　　要：针对工业机器人作业过程中出现的速度突变,减小机器人关节电机的冲击,给出了一种基于NURBS曲线描述的机器人末端路径构造方法,改善了机器人作业路径的光滑性,结合基于四元数描述的Slerp末端姿态规划的方法,保证了姿态变化的连续性;运用S型速度规划方法,实现了末端轨迹的柔顺性,以及作业过程中关节空间与笛卡尔空间下速度曲线的平滑,确保加速度不会发生突变,保证了机器人作业过程的平稳性,减小机器人作业时的冲击与抖动。仿真过程中,对比5段多项式轨迹规划,采用所提方法得到的速度曲线更光滑,加速度无突变,有效避免了传统规划作业过程中频繁起停的问题。最后在机器人平台上运行所提规划算法,印证了仿真所得结果,从而证明了所提方法可以有效改善机器人作业的性能。In the process of industrial robot operation,it is quite possible that the velocity in Cartesian workspace maychange dramatically,which may lead to great impact to joint motors.A method based on path construction using NURBS curve in Cartesian workspace was proposed to improve the path smoothness in Cartesian workspace.In addition,the Slerp interpolation based on the quaternion posture description was used in the planning of posture description in Cartesian workspace,which assured the continuity of posture changes.The S-velocity profile ensured the flexibility of trajectory in Cartesian workspace.Furthermore,it ensured the flexibility of velocity both in Cartesian workspace and in joint space,and the continuity of acceleration profile.Compared with 5 degree polynomial trajectory planning method,the velocity profile with the planning method proposed in this paper becomes more smooth,and the acceleration did not change dramatically,which indicates that the planning method proposed in this paper can effectively improve smoothness of path in Cartesian workspace,and decrease the impact and tremulous in Cartesian workspace.Finally,we verified the simulation results by running the proposed algorithm on the robot platform,and proved that the proposed method can effectively improve the performance of the robot operation.

关 键 词：四元数 球面姿态插补 速度规划 实时插补 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]