摘要
通过非对称化机器人轨迹规划的加速度曲线,缩短加速时间,增加减速时间,使机器人快速运动,缓慢停止,使机器人减速时的加速度和冲击最大值得到降低,因此能够很好地降低振动,使机器人运动平稳,避免振动和过冲现象,使机器人能够精确、稳定、快速、高效地到达预定位置,完成拾放操作。
A method for robot trajectory planning based on asymmetry combined sine function was presented. The Robot can be run quickly and stopped slowly through shortening its acceleration time and increasing deceleration time. The maximum jerk and maximum acceleration of the robot can be reduced when it is decelerated. So the robot could be run stably with reduction of vibration and impact. At the same time, the servece life can be increased due to the alleveation of wears among the mechanical components. Thus, the robot could reach the predetermined position more precisly and steadily, and complete Pick-and-Place operations.
出处
《电子机械工程》
2008年第1期56-58,共3页
Electro-Mechanical Engineering
关键词
非对称
加速度
组合
正弦函数
冲击
轨迹规划
asymmetry
acceleration
combined
sine function
jerk
trajectory planning
