基于五次多项式算法的机器人轨迹规划研究

Research on Robot Trajectory Planning Based on Quintic Polynomial Algorithm

为进一步保障机器人速度与加速度变化曲线的稳定性与光滑度,需优化轨迹规划算法。因此,文章以五次多项式算法为基础进行了机器人轨迹规划研究,通过五次函数拟合插值机器人各关节速度与加速度,并基于Matlab轨迹仿真与机器人试验验证,得出结论,五次多项式算法进行轨迹规划时,拟合曲线光滑度较高,可确保速度与加速度不发生突变状况,保障了机器人运动的平稳性;能保证机器人根据预定轨迹平稳过渡速度与加速度,提升了机器人运动精确性;可减少机构碰撞与干涉,延长机器人使用寿命。

In order to ensure the stability and smoothness of robot velocity and acceleration curve,the trajectory planning algorithm should be optimized.Therefore,based on the quintic polynomial algorithm,the robot trajectory planning research is carried out in this paper.Through the quintic function fitting and interpolating robot's joint velocity and acceleration,and based on Matlab trajectory simulation and robot test verification,it is concluded that when the quintic polynomial algorithm is used for trajectory planning,the fitting curve smoothness is high,which can ensure that the velocity and acceleration do not change,and ensure the smoothness of the robot motion,and it can ensure the smooth transition of the speed and acceleration of the robot according to the predetermined trajectory,which improves the accuracy of the robot's motion;it can reduce the collision and interference of the mechanism and extend the service life of the robot.