摘要
在关节空间内以门字形拾放轨迹为目标,结合其运动学数学模型,对六自由度机械臂拾放路径进行规划。把空间门字形轨迹变换到平面坐标,设定插值点,利用运动学模型逆解出关节驱动角度,计算出舵机脉冲值,结合单片机进行控制,使系统按规划的路径运行。然后,从减少抓取动量及圆滑过渡两方面对规划的路径进行了一定的优化,验证规划与优化的效果,优化后的拾放路径更加圆滑,运行动作更稳,优化效果良好。
The gate-shape pick-and-place path is planned for a 6-dof manipulator in the joint space,combined with its kinematics mathematical model.The interpolation points are set after the space gate-shape trajectory being transformed to the one in plane coordinates.The inverse kinematics model is used to solve the joint drive angle,and corresponding pulse values are calculated,thus the system could be controlled by single chip microcomputer to make the manipulator run according to the planned path.Then,the planned path is optimized from two aspects of reducing grasping momentum and smooth transition.The effects of planning and optimization are verified by experiments.The optimized trajectory is more smooth,and the operation is more stable.
作者
张小青
王长超
胡梦桃
陈凯元
徐胜清
Zhang Xiaoqing;Wang Changchao;Hu Mengtao;Chen Kaiyuan;Xu Shengqing(School of Physics and Electronic Engineering,Xianyang Normal University,Xianyang,China)
出处
《科学技术创新》
2023年第23期225-228,共4页
Scientific and Technological Innovation
基金
陕西省教育厅科研专项(20JK0972)。
关键词
路径规划
路径优化
圆滑过渡
path planning
path optimization
smooth transition
