摘要
当机器人进行快速运动且运动时间确定时,由于受到驱动机构性能等因素的制约,机器人进行运动轨迹规划时需要考虑角加速度约束、角速度约束和角度约束等多个约束条件。通过对运动约束进行分析,提出基于梯形速度曲线的多约束条件下机器人关节空间轨迹规划方法。根据无约束条件下规划出的最小加速度运动轨迹,在角加速度满足约束的情况下对其进行优化,获得满足角速度约束和角度约束的最小角加速度运动轨迹。对加速度达到最大时的轨迹也无法满足约束条件的情况进行讨论。该轨迹规划方法兼顾机器人的运动平稳性与约束要求,并且能够充分发挥机器人关节的驱动性能。仿真结果表明了该方法的可行性。
In the cases that the robots move fast with fixed motion time,various constraints,such as angular acceleration constraint,angular velocity constraint and angular constraint,should be considered when planning the trajectories of robots due to the driver performances and other factors.By analyzing the constraints,a joint-space trajectory planning method for robots under multiple constraints is proposed based on trapezoidal velocity profile.According to the minimum acceleration trajectory without constraints,the minimum acceleration trajectory under the angular velocity constraint and angular constraint is obtained by optimizing the angular acceleration while it is in the constraint range.The situation that the trajectory with maximum acceleration cannot meet the constraint requirements is discussed.The trajectory planning method takes into account both the moving stability and the constraints and can give full joint driving performances.Simulation results show the feasibility of the method.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第21期1-6,共6页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划资助项目(863计划
2008AA042601)
关键词
机器人
关节空间
轨迹规划
约束
Robot Joint-space Trajectory planning Constraints
作者简介
作者简介：张斌（通信作者），男，1981年出生，助理研究员。主要研究方向为机器人学及先进制造技术。E—mail：zhwwbinl@163．com
