一种考虑关节跃度约束的实时刀具路径光顺算法  

A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints

作　　者：杜煦 常泽鑫 郑军强 任鹏飞 DU Xu;CHANG Zexin;ZHENG Junqiang;REN Pengfei(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou,310018;School of Mechanical Engineering,Hangzhou Dianzi University,Hangzhou,310018)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]杭州电子科技大学机械工程学院,杭州310018

出　　处：《中国机械工程》2024年第2期280-286,共7页China Mechanical Engineering

基　　金：国家自然科学基金(52005142);国家重点研发计划(2022YFB3401900);浙江省自然科学基金(LY21E050022)。

摘　　要：针对机器人加工过程中关节跃度超过约束的问题,提出一种考虑机器人关节跃度约束的刀具路径光顺算法。采用有限冲激响应滤波器插值算法对五轴刀具路径进行光顺处理,一步完成了路径光顺和速度规划。建立了关节与刀具之间的速度、加速度和跃度关系,通过调整时间常数保证了关节跃度不超过约束。考虑机器人关节加速度约束后,该算法计算出的时间常数更小。仿真和实验结果表明该算法能减小关节的跟踪误差,提高机器人的工作稳定性。Aiming at the problems of joint jerk exceeding constraints in robot machining,a tool path smoothing algorithm was proposed considering joint jerk constraints.The FIR filter interpolation was used to smooth the five-axis tool paths.Path smoothing and speed planning were achieved in one step.The relationship of velocity,acceleration,and jerk between joint and tool was established,and the joint jerk did not exceed the constraint by adjusting the time constant.Time constant calculated by the proposed method was smaller than considering the acceleration constraints of robot joint.Simulation and experimental results show that the proposed algorithm may reduce the tracking error of the joint and improve the stability of the robot joint in machining.

关 键 词：关节跃度约束 五轴刀具路径光顺 有限冲激响应滤波器插值 机器人加工 

分 类 号：TH161[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]