摘要
传统的S型加减速算法是基于加速度和位移的约束,而在机器人的运动控制中需要带有速度的约束参数,故提出了一种带有速度与加速度约束的修正梯形加速度规律规划算法。根据该加减速曲线的特征,提出一种时间判别法对给定的约束参数进行轨迹规划,并将速度与加速度进行适配;另外,针对小位移、大加速度的约束参数,自动调整修正系数,对速度和加速度参数进行约束;最后给定约束参数对上述轨迹规划方法进行仿真实验,得到了基于约束参数的较好的速度与加速度曲线,表明了该轨迹规划方法的有效性,并且有效减少了冲击与振动。
The traditional S-type acceleration and deceleration algorithm is based on the constraints of acceleration and displacement,and the speed control parameters are needed in the robot's motion control.To this problem,this paper proposes a modified trapezoidal acceleration law planning algorithm with speed acceleration constraints.According to the characteristics of the acceleration and deceleration curve,a time discrimination method is proposed to perform trajectory planning for a given constraint parameter and adapt the speed and acceleration.In addition,for the constraint parameter of small displacement and large acceleration,the correction coefficient is automatically adjusted to adjust the speed and acceleration parameters.Finally,given the constraint parameters,the above-mentioned trajectory planning method is simulated,and a good speed and acceleration curve based on the constraint parameters is obtained,which shows the effectiveness of the trajectory planning method and effectively reduces the impact and vibration.
作者
叶增林
陈华
吴昊
YE Zenglin;CHEN Hua;WU Hao(School of Artificial Intelligence,Ma′anshan University,Ma′anshan 243100,China)
出处
《河南工程学院学报（自然科学版）》
2020年第4期53-58,共6页
Journal of Henan University of Engineering：Natural Science Edition
基金
安徽省教育厅一般研究项目(gxyq2018155)。
关键词
S型加减速
速度约束
修正梯形
时间判别法
S-type acceleration and deceleration
speed constraint
modified trapezoid
time discrimination
