基于时间最优的机器人位姿同步轨迹规划方法  

Robot Pose Synchronization Trajectory Planning Method Based on Time Optimization

作　　者：曹钰婷 王金涛[1,2,4] 刘明敏[1,2,4] 樊志伟[1,2,3] CAO Yuting;WANG Jintao;LIU Mingmin;FAN Zhiwei(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学,北京100049 [4]沈阳新松机器人自动化股份有限公司,沈阳110168

出　　处：《组合机床与自动化加工技术》2024年第2期61-65,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划项目(2020YFB1710905)。

摘　　要：为提高工业机器人在工作空间的运行效率,提出了一种在笛卡尔空间实现位姿同步的时间最优轨迹规划方法。该方法采用三次均匀B样条曲线对机器人末端路径点进行位姿同步的路径插值;以减小运动时间为优化目标,在满足关节运动学约束的条件下,采用线性规划对离散后的笛卡尔空间参数化轨迹进行逆向与正向递推,求解路径参数的相平面图。基于路径参数的相平面图,通过雅可比矩阵计算关节速度进行时间最优速度规划。针对所提方法进行实验验证,结果表明该方法在满足机器人实际运动性能的前提下达到了时间最优。In order to improve the operating efficiency of industrial robots in the workspace,a time-optimal trajectory planning method to achieve pose synchronization in Cartesian space is proposed.This method uses cubic uniform B-spline curves to perform pose-synchronous path interpolation on the end path points of the robot;with the optimization goal of reducing the movement time,under the condition of satisfying the joint kinematics constraints,linear programming is used to analyze the discrete Cartesian The space-parameterized trajectory performs reverse and forward recursion to solve the phase plane diagram of the path parameters.Based on the phase plane graph of the path parameters,the joint velocity is calculated through the Jacobian matrix for time-optimal velocity planning.Experimental verification of the proposed method is carried out,and the results show that the method achieves the optimal time under the premise of satisfying the actual motion performance of the robot.

关 键 词：工业机器人 时间最优 路径插值 速度规划 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]