7-DOF核工业机器人的轨迹规划与仿真

Trajectory Planning and Simulating on 7-DOF Robot Applied to Nuclear Industry

为实现7-DOF核工业机器人在空间相贯焊缝探查作业过程中平稳、连续及控制的实时性,提出采用五次多项式函数进行轨迹插补,避免通过求解Jacobian逆矩阵实现从欧氏空间到关节空间轨迹规划结果的转换而涉及矩阵求逆等繁杂运算。该方法具有结构简单,运算量小,能够实时计算机器人运动的位移、速度与加速度,并生成运动轨迹。结合实际探查的空间相贯曲线,对各关节的运动轨迹进行了计算仿真,结果表明:该方法能够保证关节角度、角速度及角加速度的连续性,保证了机器人工作的平稳性,能够满足工作要求。

For the sake of smooth and successive motion of this 7-DOF robot, a five-order polynomial is adopted to interpolation of trajectory. Compared with resolving inverse Jacobian matrix, this method can avoid the complex computation of coordinate transition, which results in greatly improving the control speed in time. Based on the actual detected spatial intersected curve, the simulations to the angle-displacement, velocity and acceleration of 4 joints are done. The results show：the curves of velocity and acceleration are smooth and successive. From this, that a five polynomial interpolation function is appropriate to the 7-DOF robot has been illuminated.