一种基于虚拟主轴的协调运动轨迹的规划分析

Research on the Coordinate Trajectory Planning Based on the Virtual Axis

针对多轴间的同步运动,提出了一种基于虚拟主轴的协调运动轨迹规划的算法。建立了多轴协调运动的运动学模型,分析多轴间的运动学约束,通过逆运动学运算得到任务空间的关键位置、速度和加速度序列,将上述运动学约束转换为相互耦合的非均匀B样条控制顶点的约束,利用非均匀B样条进行了轨迹规划。将上述多条运动轨迹间的耦合关系转换为各条运动轨迹与虚拟主轴之间的耦合关系,建立了基于电子凸轮的虚拟主轴的多轴间协调运动控制模型,结合实例对模型的有效性及其运动轨迹的性能进行了验证分析。

This paper aims to provide a trajectory planning algorithm based on virtual axis for multi-axis synchronous motions. The kinematic model of multi-axis coordinated motion is built. The kinematic constraints among the multi-axis is analyzed and the sequential key position, velocity and acceleration were got through the inverse kinematic operation. The kinematic constraints were transformed into vertices constrained of non-uniform B-spline curves and the non-uniform B-spline curves is used for trajectory planning. The coupling relationship among multi-axis were changed into the coupling relationship between each axis and virtual axis. The control model of the virtual axis coordinated mo- tion among the multi-axis was built based on electronic cam. In the end, the validity of the model and its performance of trajectory was verified through an actual case study.