随车吊机械臂的吊装轨迹规划方法

Hoisting trajectory planning for an onboard craning manipulator

针对8自由度随车吊吊运作业中的抓取段路径规划问题,通过任务描述建立了其运动学模型,提出了一种笛卡尔空间的S型速度规划与关节空间的六次多项式插值相结合的方法进行轨迹规划,并进行了仿真分析。研究结果表明,该方法能够按照预定路径运动,运动过程平稳无振动,并且具有较高精度。

To solve the problem of trajectory planning for 8 DOF onboard craning manipulator in the process of hoisting motion, the equations of the kinematics model is constructed. This paper proposes a approach combining with the S-shaped speed method in Cartesian space and sixtic polynomial interpolation method in the joint space. The simulation results indicate that this method makes a smooth moving with a predetermined path without jitter ,and also has high computational precision.