机器人的时间最优控制轨迹规划

TIME-OPTIMAL CONTROL TRAJECTORY PLANNING OF ROBOTS

以时间最短作为性能指标,建立了机器人轨迹规划的最优控制算法。这种算法对于PTP运动和沿CP运动都是适用的。本文工作的实际意义在于可以提高产业机器人的工作效率。以PUMA-560机器人为例,对所建立的最优控制算法进行了计算机仿真,结果表明该算法是正确、有效的。

In this paper, authors have developed the optimal control algorithm of the trajectory planning of robot taking the shortest movement time as a quality indicatrix. This algorithm is appropriate to PTP trajectory and CP trajectory. The practical significance of this research lies in raising the work efficiency of industrial robots. In the latter of this paper, authors took PUMA-560 robot as an example and made computer simulation research using this optimal control algorithm. The simulation result has shown that this algoritm is correct and effective.