摘要
针对机器人的工作效率低,同时其工作起始和结束时易产生振动的问题,提出一种利用改进三次样条曲线建立机器人轨迹模型,并通过改进型粒子群算法(IPSO)对其进行时间最优轨迹规划的方法。首先,对机器人进行D-H运动学建模,采用位姿分离法对各路径点进行逆运动学求解;然后,改进传统三次样条插值,对其起始和结束分段区间时间中点处进行修正,同时与改进型粒子群算法有效结合,实现机器人运动时间的最优求解。仿真结果对比表明,该轨迹规划的方法缩短了机器人约30%左右的运动时间,极大提高了工作效率,同时有效减少了其工作起始和结束时因加速度发生突变而产生的振动,保证了工作的平稳性。
To solve the problem of low working efficiency of robot and easy vibration at the beginning and end of its work,a method is proposed to establish the trajectory model of robot by using improved cubic spline curve,and to plan its time optimal trajectory by using improved particle swarm optimization algorithm(IPSO).Firstly,the D-H kinematics model of the robot is established,and the inverse kinematics of each path point is solved by using the pose separation method;Then,the traditional cubic spline interpolation is improved to modify the midpoint of the starting and ending segment interval time,and effectively combined with the improved particle swarm optimization algorithm to achieve the optimal solution of the robot′s motion time.The comparison of simulation results shows that the trajectory planning method reduces the motion time of the robot by about 30%,greatly improves the work efficiency,and effectively reduces the vibration caused by sudden changes in acceleration at the beginning and end of its work,thus ensuring the stability of the work.
作者
杜娟
宋易奇
陈峙
晋美娟
董超杰
DU Juan;SONG Yiqi;CHEN Zhi;JIN Meijuan;DONG Chaojie(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Shanxi Pingyang Industry Machinery Co.,Ltd.,Linfen 043000,China)
出处
《组合机床与自动化加工技术》
北大核心
2023年第11期6-10,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(62272336)
山西省重点研发计划项目(202102150401009)。
关键词
样条曲线
轨迹规划
改进型粒子群算法
时间最优
spline curve
track planning
improved particle swarm optimization algorithm
time optimal
