摘要
针对码垛机器人传统时间最优规划中存在的关节脉动较大、轴间等待等问题,提出了一种基于时间最优关节柔顺的二次轨迹规划方法。以传统规划为预规划,若预规划存在轴间等待,则进行第二步规划:采用三次样条曲线,将预规划所得的S曲线改造成非对称S型曲线;同时,采用线性插值法,根据轴间等待时长实时调整相应关节的加加速度值,直到关节间等待不再发生,从而实现柔顺控制。经实验验证,在不损失工作效率的情况下,该方法可有效降低关节脉动。
In order to decrease the pause among joints and reduce severe pulsation in Palletizing Robot running in the way of traditional time optimal planning,a newnew-step planning method with time-optimal and joints compliance control was proposed.When the pause occured,the process should move on to next step：the symmetric S-curve obtained after traditional planning should be modified into asymmetric S-curve through a cubic spline.And based on Linear Interpolation,the joint’s jerk would be set diversely with different waiting duration until the pause didn’t occur any more so that the trajectory became more compliant.The experiment showed that,this method can effectively reduce the pulsation and ensure the productivity.
出处
《组合机床与自动化加工技术》
北大核心
2017年第4期18-21,25,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
四川省科技支撑计划项目(2015GZ0021
2016GZ0168)
关键词
码垛机器人
轨迹规划
非对称S曲线
关节柔顺控制
palletizing robot
trajectory planning
asymmetric S-curve
joints compliance control
