抛物线轨迹规划在工业机器人中的应用

Application of Parabolic Curve Trajectory Planning in Industrial Robot

论文对抛物线样条函数进行系统的分析,对于本课题中所研究的机器人在搬运过程中的轨迹应用了抛物线插值函数;通过Matlab对机器人的轨迹进行仿真,其结果显示出抛物线函数虽然与其他插值函数相比简单,但对于本课题中的机器人已经非常适合,不仅能够在机器人运动过程中保证运行稳定,速度连续,而且在启动和加速过程中,冲击也非常小。

The parabolic curve function is analyzed systematically and the parabolic curve function is also applied in the field of handling robots. The author makes the simulation of path planning of the handling robot through software Matlab and the result of the simulation shows that comparing to other functions, the parabolic function is very simple but it is good enough for the handling robot in this paper. The parabolic function can not only ensure the handling robot mn smoothly but also guarantee the shock is small in the process of acceleration and deceleration.