一种新的机器人轨迹规划方法

A NEW APPROACH TO TRAJECTORY PLANNING OF ROBOT MANIPULATOR

本文针对机器人最小时间轨迹规划问题提出了一种二次规划的优化方法。根据轨迹作预规划 ,在此基础上用机器人关节速度及驱动力矩的约束条件作修正规划 ,得到最小时间轨迹的优化解。该规划方法简单实用 ,对跟踪路径无特殊要求。在作者等自行研制的直接驱动机器人DDR -

This paper presents a twice planning approach to solving minimum-time trajectory planning problem for robotic manipulators. Pre-planning is performed on the specified path. Revising it by constraints on the joint velocities and on the actuation torgues results in minimum time trajectory. This approach is simple and practical. There is no special requirement on the tracing path. The experiment is performed on a direct driven robot DDR-1, whichh is developed in the authors'lab. Its results verify the effectiveness of this method.