机器人的平面曲线轨迹规划方法

An approach for robot plane curve trajectory planning

提出了一种满足笛卡尔空间与关节空间混合约束的机器人平面曲线轨迹规划方法.在笛卡尔空间讨论了控制节点的选取,节点间运动时间的分配,以及规划轨迹与要求轨迹的位置偏差和姿态偏差的估计方法;在关节空间讨论了三次样条函数插值及满足关节速度、加速度及力矩约束的方法.根据规划轨迹与要求轨迹偏离情况,非均匀地插入控制节点.通过增加有限的控制节点,有效地控制偏差,减少计算量.给出了完整的平面曲线轨迹规划算法.仿真实例验证了算法的有效性和可行性.

An approach for robot plane curve trajectory planning was proposed, which satisfies the mixed constraints in both Cartesian space and joint-variable space. In the Cartesian space, the determination of control knot points, the time assignment among the knots, and the deviation estimation between the planned trajectory and the desired trajectory were discussed. And in the joint-variable space, cubic spline polynomials fitting to the segment between two adjacent knots were discussed and the methods to satisfy the joint physical constraints （the velocity, acceleration, and torque constraints） were studied. According to the deviation between the planned trajectory and the desired trajectory, knot points were inserted unevenly among the predetermined knots. Thus the deviation was decreased significantly by adding small number of knots. At last, an algorithm for plane curve trajectory planning was presented in detail. A typical industrial robot trajectory planning example was given to demonstrate the effectiveness of this method.