协作机器人时间最优轨迹规划研究  

Research on Time-Optimal Trajectory Planning of Collaborative Robot

作　　者：张涛[1,2] 张建业[1,2] 吴子朝[1,2] ZHANG Tao;ZHANG Jianye;WU Zizhao(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学,天津市现代机电装备技术重点实验室,天津300387

出　　处：《机床与液压》2025年第3期12-19,共8页Machine Tool & Hydraulics

基　　金：国家科技重大专项子课题项目(2019ZX04005-001-014)。

摘　　要：通过调研主流协作机器人参数,针对搬运、码垛等轻工领域需求制定性能指标,采用“臂腕分离”方法进行机器人构型设计及关节模组研究。以该机器人为研究对象,为实现过指定路径点的时间最优轨迹规划,并确保各关节运动平滑、连续,在满足运动学约束条件下,使用3-5-3多项式插值方法进行关节空间轨迹规划。鉴于经典海洋捕食者算法局部搜索能力较差的问题,引入混沌映射初始化和自适应参数策略进行改进,并将新算法应用于3-5-3多项式插值的时间最优轨迹规划中。通过MATLAB仿真分析,改进后的各关节轨迹平滑连续且运行时间缩短,证明该改进算法在机器人轨迹规划中的有效性和可行性。By investigating the parameters of the main cooperative robots,aiming at the performance indexes of light industry such as handling and palletizing,the robot configuration design and joint module research were carried out by the method of arm-wrist separation.Taking the robot as the research object,in order to realize the time-optimal trajectory planning of the given path points and ensure the smooth and continuous motion of each joint,the 3-5-3 polynomial interpolation method was used for joint space trajectory planning with kinematic constraints.In view of the poor local search ability of the classical ocean predator algorithm,the chaotic map initialization and adaptive parameter strategy were introduced to improve the proposed algorithm and applied to the time-optimal trajectory planning of 3-5-3 polynomial interpolation.Through MATLAB simulation,the trajectory of the improved joint is smooth and continuous,and the running time is shortened,which proves the effectiveness and feasibility of the improved algorithm applied to robot trajectory planning.

关 键 词：协作机器人 时间最优轨迹规划 海洋捕食者算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]