机械手圆周运动的轨迹规划与实现

Trajectory planning for the circular motion of manipulator and its implementation

研究机器人跟踪由任意不共线空间三点所决定的外接圆曲线,提出了机器人圆周运动的一种笛卡尔空间的轨迹规划方法.该方法通过坐标变化将三维空间内的圆周轨迹规划问题简化到二维平面上进行研究,由此简化了轨迹规划问题;为了保证机器人圆周运动较好的插补精度和圆周轮廓,提出了一种可控插补精度的圆周插补算法.根据坐标变化以及插补算法给出了轨迹规划的算法步骤,将该规划方法用于微操作机械手,完成了机械手的圆周涂胶作业,实际应用表明该方法能够满足实时性和精度指标要求.

Arc motion is stereotype in the point to point motion of manipulator. The tracking of a manipulator curves determined by the circumscribed circle of three non-collinear arbitrary points was studied, and a trajectory planning for the circular motions of manipulators in the Cartesian space was proposed, where the problem in three-dimensional space could be simplified to the one in two-dimensional plane by transformation of coordinates. An interpolation algorithm with a controllable precision was proposed to obtain a preferable interpolation accuracy, circular profile, and its algorithm steps, presented according to the transformation of coordinates and the interpolation algorithm. The planning and algorithm were employed to accomplish the task of circular sizing of micromanipulator. Practical uses showed that the planning is capable of meeting the requirements of real-time utility and precision.