基于六自由度机械臂的轨迹规划

Trajectory Project Based on 6-DOF Manipulator

针对机械臂运动过程中速度和加速度的运动连续性问题,基于六自由度机械臂关节空间的三次多项式轨迹规划,提出了一种过多路径点的轨迹规划的算法。为保持机械臂运动过程中各关节的速度和加速度的运动连续性,通过时间归一化方法来求解,不仅简化了求解过程,还提高了计算效率。数字仿真结果表明此方法的可行性。

To solve the movement continuity problem of velocity and acceleration in the movement of manipulator,a trajectory planning algorithm of pass multi-points,based on trajectory planning of cubic polynomial of 6-DOF manipulator＇s joints space,is presented.To maintain each joints velocity and acceleration of movement continuity in the movement of manipulator,the time normalization method is used to solve the problem,its use not only simplifies the calculation process,but also improves the computational efficiency.Digital simulation results show the feasibility of this method.