基于嵌入式系统的机器人关节空间轨迹规划

Robot trajectory planning based on embedded system in joint space

针对工业机器人运行过程经常出现的因速度或加速度不连续从而导致抖动等问题,提出了一种基于B样条曲线的轨迹规划算法,该算法使用三次B样条曲线来对六自由度机器人的关节空间进行插值,并根据实时性的要求运用一种控制点衔接插补算法进行分段插补,最终应用于基于ARM9的嵌入式系统中。实验证明:该算法不仅计算量小、处理时间短,而且能保证速度曲线的连续平滑,减少了机械抖动。

Aiming at the appearance of dithering caused by the discontinuous of the speed or acceleration Of industrial robot during operating, a kind of trajectory planning algorithm based on B-spline curve is put forward, whieh use cubic B-spline curve to plan the joint space of robot with six degrees of freedom. According to the request of processing real-time interpolation points, a cohesive interpolation algorithm based on ARM9 is used to solve this problem,which eventually used in the embedded system. It is proved by experiment that this algorithm can not only reduce computation but also shorten processing time, and of course can guarantee the smooth of curve, eventually reducing the continuous mechanical wobble.