摘要
针对机器人在运动过程中遇到较大振动和冲击问题,为进一步提高轨迹规划的精度,减轻振动和冲击,延长机器人使用寿命。以实验室REBOT-V-6R机器人为研究对象,分别采用三次多项式、三次B样条和三次NURBS在基于最短路程原则下对机器人轨迹进行规划。规划结果表明,采用三次NURBS规划的运动轨迹速度、加速度光滑,连续没有突变,机器人轨迹精度较好,运动性能优于三次多项式样条和三次B样条。
Base on the larger vibration and shock problems encountered in the movement of robot, in order to further improve the accuracy of trajectory planning, reduce the vibration and impact, extend the service life. in laboratory REBOT-V-tR robot as the research object, using thrice polynomial and thrice B spline and thrice NURBS based on the shortest path principle of robot path planning. The results show that the thrice NURBS could achieve smoother planning trajectory velocity and acceleration, continuous no mutation, robot trajectory precision is better, sports performance is better than that the remaining two methods.
出处
《组合机床与自动化加工技术》
北大核心
2017年第11期41-43,47,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
河北省自然科学基金项目(E2014502042)
中央高校基本科研业务费专项资金项目(11QJ61)
