基于多项式加减速控制的轨迹规划的研究

计算机工程与科学

基于多项式加减速控制的轨迹规划的研究

岳晴晴，林明

（江苏科技大学电子信息学院,江苏镇江 212000）

收稿日期:2018-11-08 修回日期:2019-04-08 出版日期:2019-12-25 发布日期:2019-12-25
基金资助:
国家自然科学青年基金（61401179）

Trajectory planning based on polynomial

acceleration and deceleration on control

YUE Qing-qing，LIN Ming

（Electronic Information Institute,Jiangsu University of Science and Technology,Zhenjiang 212000,China）

Received:2018-11-08 Revised:2019-04-08 Online:2019-12-25 Published:2019-12-25

摘要/Abstract

摘要：

轨迹规划是机器人控制系统研究的重要内容之一，它对机器人性能的提高起着关键性的作用。为解决机器人在笛卡尔空间直线和圆弧拟合自由曲线时存在的误差较大的问题，提出机器人冲击最优的轨迹规划算法。通过多项式速度控制曲线和阿当姆斯微分方程，并以最大弓高误差、最大加速度为约束条件，对机器人轨迹进行插补。同时使用四元数来对机器人姿态进行描述，并使用球形线性插值法对其进行插补。最后以IRB2600工业机器人为仿真本体，使用Matlab对所提出的算法进行仿真，可以得到误差允许范围内的工业机器人运行轨迹，证明了此算法理论上的有效性。

关键词: 工业机器人, 轨迹规划, NURBS, 多项式速度曲线

Abstract:

Trajectory planning is one of the important contents in robot control systems, which plays a key role in improving the robot performance. In order to solve the problem that the robot has larger error when fitting straight line and arc into free curve in Cartesian space, a trajectory planning algorithm with optimal robot impact is proposed. With the maximum bow height error and the maximum acceleration speed as the constraint conditions, the robot trajectory is interpolated by the polynomial velocity control curve and the Adams differential equation. At the same time, the four-element number is used to describe the robot posture, and the spherical linear interpolation method is used to interpolate the posture. Finally, taking IRB2600 industrial robot as the simulation ontology, the algorithm is simulated in Matlab. The results show that the running trajectory of the industrial robot in the error allowable range can be obtained, which proves the validity of this algorithm theoretically.

Key words: industrial robot, trajectory planning, NURBS, polynomial velocity curve

岳晴晴，林明. 基于多项式加减速控制的轨迹规划的研究[J]. 计算机工程与科学.

YUE Qing-qing，LIN Ming.

Trajectory planning based on polynomial

acceleration and deceleration on control

[J]. Computer Engineering & Science.

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