摘要
为了降低工业机器人在运动过程中关节的最大加速度,提升运动的平稳性。通过对机器人运动学分析,求出起始和终止关节角度,分别采用三次多项式和高阶多项式插值算法进行运动插值。分析两种方法的特点,提出一种新型多项式插值方法为三段多项式“414”插值算法。根据运动过程加速度连续且最小原则,采用遗传算法给出最优的两个时间节点。通过MATLAB进行仿真实验证明了“414”多项式插值方法能够使关节加速度变化更加平稳,解决了三次多项式插值算法不能约束加速度和五次多项式插值算法加速度过大的问题,降低了传动机构的冲击。
In order to reduce the maximum acceleration of the joint and improve the stability of the motion of the industrial robot in the process of motion.Through the kinematic analysis of the robot,the starting and ending joint angles are obtained,and the cubic and high-order multinomial interpolation algorithms are used for motion interpolation,respectively.Based on the analysis of the characteristics of the two methods,a new multinomial interpolation method is proposed,which is a three-segment multinomial"414"interpolation algorithm.According to the principle of continuous and minimum acceleration in the motion process,the genetic algorithm is used to give the optimal two time nodes.The simulation results of MATLAB show that the"414"interpolation method can make the joint acceleration change more stable,solve the problem that the cubic polynomial interpolation algorithm can not constrain the acceleration and the acceleration of the quintic polynomial interpolation algorithm is too large,and reduce the impact of the transmission mechanism.
作者
张金明
陈永秋
ZHANG Jin-ming;CHEN Yong-qiu(Intelligent Machinery Institute, School of Mechanical Engineering and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第5期48-51,共4页
Modular Machine Tool & Automatic Manufacturing Technique
