机场行李装载机器人的轨迹规划研究

Research on the trajectory planning of the airport luggage loading robot

以机场行李装载机器人为研究对象,对其装载作业中的轨迹规划进行了研究。结合实际需求,对机器人末端轨迹设置关键路径点,建立点到点的运动轨迹。用MATLAB对3-3-5多项式插值法、3-5-3多项式插值法、4-3-4多项式插值法、5-3-5多项式插值法、3-4-5多项式插值法进行仿真。对比仿真结果,5-3-5多项式插值法在参数曲线光滑连续方面优于其他几种方法。以时间最短为优化目标,用遗传算法对5-3-5多项式插值方法进行优化。结果表明,该方法可以在时间最优的同时,各关节角度、角速度和角加速度曲线光滑连续,机器人可以平稳运行,顺利避开障碍物,满足设计要求。

This article focuses on the trajectory planning of the airport baggage loading robot when the loading tasks are performed.In combination with practical needs,the key path points are set for the robot’s end trajectory,and the point-to-point motion trajectory is worked out.MATLAB is adopted to simulate the 3-3-5 polynomial interpolation,3-5-3 polynomial interpolation,4-3-4 polynomial interpolation,5-3-5 polynomial interpolation and 3-4-5 polynomial interpolation.The simulation results show that 5-3-5 polynomial interpolation with smooth and continuous parametric curves is superior to its counterparts.With the shortest time as the goal of optimization,the genetic algorithm is adopted to optimize the 5-3-5 polynomial interpolation.The results show that while time is optimized,the angle,velocity and acceleration curves of each joint are smooth and continuous.The robot runs smoothly and all obstacles are avoided,thus meeting the design requirements.