基于五次B样条插值在机械手轨迹规划中的研究  

Research on Quintic B-spline Interpolation in Manipulator Trajectory Planning

作　　者：郭北涛[1] 涂修贤 姜旭 GUO Beitao;TU Xiuxian;JIANG Xu(School of Mechanical and Power Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China)

机构地区：[1]沈阳化工大学机械与动力工程学院,沈阳110142

出　　处：《机械工程师》2023年第11期5-8,共4页Mechanical Engineer

基　　金：沈阳市科技计划项目(F16-228-6-00)。

摘　　要：针对曲面工件表面缺陷检测的难题,构建了基于机械手的自动涡流检测系统,并针对机械手跟踪工件曲面过程中出现的轨迹优化中的误差与波动问题,采用五次B样条函数方法对机械手轨迹进行优化。通过编写的正向、逆向运动学程序,将被检测曲面工件的位姿坐标转化为检测机械手臂各个关节的转动角度,并运用五次B样条曲线方法进行检测轨迹规划。五次样条B样条函数相对于传统的三次样条函数的误差消除效果有很大提升,具有较高的灵活性、广泛的适用性,实验结果表明该函数对轨迹规划有良好的优化效果。Aiming at the problem of surface defect detection of curved workpieces,an automatic eddy current detection system based on manipulator is constructed,and the quintic B-spline function method is proposed to optimize the trajectory of manipulator by optimizing the trajectory of the manipulator by the error and fluctuation problem in the trajectory optimization of the workpiece surface during the process of tracking the surface of the workpiece.By writing forward and reverse kinematic programs,the pose coordinates of the detected surface workpiece are converted into the rotation angle of each joint of the detection manipulator,and the quintic B-spline method is used to plan the detection trajectory.Compared with the traditional cubic spline function,the quintic spline B-spline function greatly improves the error elimination,which has high flexibility and wide applicability,and the experimental results show that the function has a good optimization effect on trajectory planning.

关 键 词：五自由度机械手 轨迹规划 五次B样条函数 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]