六自由度机器人固定路线指令求解方法研究

Instruction Solution Study to Make the Six-degree-of-freedom Parallel Robot Moving with the Fixed Route

六自由度机器人固定路线指令求解一直是工业机器人应用的研究方向。通过初始姿态和目标点的空间位置计算指尖到达目标点的指令序列,然后采用二分法,进行中间插值并与目标曲线比较的方法来不断分割曲线,并通过设计合理的误差值求得指令序列。由于得出的指令序列不一定为步长的整数倍,最后通过采用粒子群优化算法进行局部寻优,求出最终指令序列。该方法能较精确地逼近路径曲线。

The solution study to make the six-degree-of-freedom parallel robot moving with the fixed route is very important implication for industry robot. The instruction sequence is calculated by the initialization pose and the target＇s position. The dichotomy is used to partition the curve, and calculate the instruction sequence by designing the reasonable error. But the instruction sequence is not the integer times for step, so the target instruction sequence is solved by particle swarm optimization.