基于软边界实时监控的工业机器人轨迹规划算法  

Algorithm for Industrial Robot Trajectory Planning Based on Soft Boundary Real-time Monitoring

作　　者：梁艳阳 孙伟霖 石峰 黄子健 Liang Yanyang;Sun Weilin;Shi Feng;Huang Zijian(Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen,Guangdong 529020,China)

机构地区：[1]五邑大学智能制造学部,广东江门529020

出　　处：《机电工程技术》2024年第8期105-108,140,共5页Mechanical & Electrical Engineering Technology

基　　金：五邑大学科研启动基金(409170190241)。

摘　　要：针对当前机器人的运动情况复杂化、高速化,为保障运动时的安全性,提出一种基于任务空间约束的机器人轨迹规划算法。为分析任务空间约束对工业机器人轨迹规划的影响,采用DH参数法建立机器人模型,通过矩阵连乘得到运动学正解,获得基于机器人基坐标系的机器人末端位姿;通过代数法求解机器人逆运动学模型,得到机器人当前位姿下的各关节角度。人为设定软边界,并以圆弧轨迹为例,采用反向前瞻正向规划的方法对机器人末端进行速度规划。通过MATLAB仿真分析,对比无边界约束下的机器人轨迹规划算法和基于软边界实时监控的工业机器人轨迹规划算法对末端速度的影响。结果表明:在考虑软边界实时监控的情况下,机器人末端速度能够得到及时调整,在边界前平稳减速并停止,对优化工业机器人任务空间的轨迹规划算法具有参考意义。Aiming at the complexity and high speed of robot motion,a robot trajectory planning algorithm based on task space constraint is proposed to ensure the safety of robot motion.In order to analyze the influence of task space constraints on trajectory planning of industrial robots,the robot model is established by DH parameter method,and the forward kinematics solution is obtained by matrix multiplication,and the robot end pose based on the robot base coordinate system was obtained.Then,the soft boundary is artificially set,and the circular arc trajectory is taken as an example,and the velocity planning of the robot end is carried out by reverse forward planning method.Through MATLAB simulation analysis,the influence of robot trajectory planning algorithm without boundary constraint and industrial robot trajectory planning algorithm based on soft boundary real-time monitoring on terminal velocity is compared.The results show that the robot’s terminal velocity can be adjusted in time,and the robot slows down and stops smoothly before the boundary when considering the real-time monitoring of the soft boundary,which has a reference significance for optimizing the trajectory planning algorithm of the task space of industrial robots.

关 键 词：工业机器人 轨迹规划 自适应前瞻 边界约束 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]