基于轨迹压缩的机器人轨迹插值与仿真  

Trajectory Interpolation and Simulation of Robot Based on Trajectory Compression

作　　者：张培森 郭忠峰[1] 杜文龙 彭世杰 ZHANG Peisen;GUO Zhongfeng;DU Wenlong;PENG Shijie(School of Mechanical Engineering,Shenyang University of Technology,Shenyang Liaoning 110870,China;CSSC Jiujiang Marine Equipment(Group)Co.,Ltd.,Jiujiang Jiangxi 332000,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]中船九江海洋装备(集团)有限公司,江西九江332000

出　　处：《机床与液压》2023年第23期30-36,共7页Machine Tool & Hydraulics

基　　金：辽宁省教育厅2021年度科学研究经费项目(面上项目)(LJKZ0114);辽宁省研究生教育教学改革研究资助项目(LNYJG2022073)。

摘　　要：针对机器人关节空间轨迹插值中插值点选择的复杂性,以Delta机器人动平台门字形轨迹为研究对象,提出一种基于轨迹压缩的轨迹插值方法。采用PH曲线平滑过渡动平台运动轨迹拐角,将任意轨迹点位置以3个主动杆的转动角度表示,形成关节空间轨迹;将遗传算法与改进的TDTR算法结合,对主动杆转动关节的轨迹进行离线压缩,得出特征轨迹点,作为5次NUBRS的插值点进行轨迹插值;与按时间与距离均匀划分所得相同数目的轨迹点作为插值点,进行轨迹插值数据对比,证明基于轨迹压缩的轨迹插值,关节角速度与加速度的最大值降低。仿真对比表明,此方法降低了动平台的最大加速度。测试实验结果验证仿真结论,动平台运动平稳,进行循环拾取操作的速率可达50次/min,证明该方法在提高运动平稳性方面具有优越性。Aiming at the complexity of selecting interpolation points in robot joint space trajectory interpolation,a trajectory inter-polation method based on trajectory compression was proposed based on the gate-shaped trajectory of the Delta robot moving platform.The PH curve was adopted to smooth transition trajectory of the moving platform in the corner,arbitrary trajectory point location was re-presented by the rotation angle of the three driving rods,forming joint space trajectory.Combining genetic algorithm and the improved TDTR algorithm,the trajectory of the active rod rotation joints was offline compressed,geting characteristics of track points as five NUBRS path interpolation.The interpolation points were compared with the same number of trajectory points evenly divided by time and distance.It is proved that the maximum angular velocity and acceleration of joint are reduced by trajectory interpolation based on trajec-tory compression.The co-simulation results show that this method reduces the maximum acceleration of the moving platform.The test results verify the simulation conclusion that the moving platform is stable and the rate of cyclic picking operation can reach 50 times/min,which proves that the method has advantages in improving the motion stability.

关 键 词：Delta机器人 轨迹插值 轨迹压缩 NUBRS 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]