渐开线在高速码垛机器人轨迹圆滑过渡的应用

Applying Involute on Continuous Trajectory of Speedy Palletizing Robot

针对高速码垛机器人轨迹规划要求响应快和冲击小的特点,在笛卡尔坐标空间内,以往从路径角度多采用点到点的直线运动、圆弧圆滑过渡的方法。文章提出利用渐开线改进其连续轨迹圆滑过渡,运用Matlab仿真机器人的渐开线运动路径及运动规律曲线。实验结果证明采用渐开线圆滑过渡的轨迹在一定条件下能够很好地满足高速码垛机器人轨迹规划响应快和冲击小的要求。

Focus on the speedy palletizing robot＇s demand of speedy response and small impact, on the basis of trace oriented methods applying on the continuous and smooth trace such as PTP straight line, arc curve, involute is proposed in this paper to implement the smooth trajectory, and the figures including involute trajectory and motion curves plotted by Matlab is shown that the involute can satisfy speedy palletizing robot＇s demand of speedy response and small impact under certain conditions.