摘要
为了提高搬运机器人在码垛过程中的速度和运动平稳性,在其关节空间内,以时间最短为规划目标,采用三次样条曲线对搬运机器人的运动轨迹进行规划,保证其速度,加速度连续;针对搬运机器人的特定的工作方式和特定的机械结构,在传统的PTP运动模式基础上提出一种基于时间最优的规划方法,对机器人整个码垛过程进行再规划。通过实验验证,运动优化后,其码垛速度大大提高。
In order to improve the speed and stationarity of the Handling robot when working, the robot＇ s trajectory is planed in joint space using Cubic spline curve, so that the speed and acceleration is conse- quent. For the specific movement and mechanical structure of the robot, A Planning method based on time optimal is proposed in the traditional model based on the PTP movement, the trajectory of palletizing process is re-planed. At last, it is verified that the speed of palletizing is greatly improved by using the method.
出处
《组合机床与自动化加工技术》
北大核心
2012年第7期33-38,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
863重点攻关项目(2009AA043903)搬运工业机器人产业化
关键词
运动规划
轨迹规划
搬运机器人
s型曲线
motion planning
trajectory planning
handling robot
S-shaped curve
