摘要
时间最优轨迹规划是结合机器人动力学特性的全局最优规划方法,它能够充分提升机器人运动性能,对智能制造系统生产效率的提升具有重要意义。提出一种基于轨迹前瞻和可达性分析的在线轨迹规划算法。首先建立了时间最优数学模型,将非线性优化问题线性化;其次介绍了全局最优求解方法,以及轨迹前瞻模块的设计流程,论证了该算法不仅能进行在线轨迹规划,而且保证了解的精确性;最后基于六自由度协作机器人进行了算法仿真分析,验证了算法的准确性和鲁棒性。
Time optimal trajectory planning is a global optimal planning method combined with robot dynamics characteristics.It can fully improve robot motion performance and is of great significance for the improvement of production efficiency of intelligent manufacturing system.An online trajectory planning algorithm based on trajectory foresight and accessibility analysis is proposed.Firstly,a time optimal mathematical model is established to linearize the nonlinear optimization problem.Secondly,the global optimal solution method and the design process of trajectory foresight module are introduced.It is proved that the algorithm can not only carry out online trajectory planning,but also ensure the accuracy of understanding.Finally,the algorithm is simulated and analyzed based on a six-degree-of-freedom cooperative robot,and the accuracy and robustness of the algorithm are verified.
作者
赖禹昊
张沙清
Lai Yuhao;Zhang Shaqing(School of Management,Guangdong University of Technology,Guangdong Guangzhou,510006,China)
出处
《机械设计与制造工程》
2023年第3期27-33,共7页
Machine Design and Manufacturing Engineering
关键词
时间最优
轨迹规划
线性规划
轨迹前瞻
可达性分析
time optimal
trajectory planning
linear programming
track foresight
accessibility analysis
作者简介
赖禹昊(1986-),男,工程师,硕士,主要研究方向为机器人运动控制系统,845146812@qq.com;通讯作者:张沙清,男,副教授,zhangshaqing@126.com.
