基于B样条路径的机器人时间最优轨迹规划

Time Optimum Trajectory Planning for Robots Based on B Spline Path

现代制造业要求机器人不仅能够实现常规的ＰＴＰ运动和简单的ＣＰ运动，而且还能够沿着任意特定路径进行高速运动．为此，对沿着特定路径运动的机器人的时间最优轨迹规划问题作深入研究，成功地运用了三次Ｂ样条对由一系列离散路径点组成的机器人特定路径进行了逼近，并利用动态规划方法，沿着逼近所得的机器人路径，对机器人进行了时间最优轨迹规划，从而保证机器人在不偏离原有路径的基础上，实现时间最优运动．通过计算机仿真实验，证明算法可行，效率较高．

In modern manufacturing, robots should not only be capable of moving in conventional PTP manner and simple CP manner, but also be capable of moving along a specified path of arbitrary shape at high velocity. To satisfy such demand, a profound research about the time optimum trajectory planning of robots along a specified path is carried out in this paper. The specified path is assumed to be composed of a series of discrete path points, and the whole time optimum trajectory planning is decomposed into two steps. First, cube B spline is employed to approach these discrete path points. Then, dynamic programming method is employed to generate a time optimum trajectory along the B spline path. With the algorithm, the robot is guaranteed to move in an optimal manner and not deviate from its original path. The algorithm has been proved to be feasible and effective by the simulations.