工业机器人笛卡尔空间轨迹规划

Trajectory Planning of Industrial Robot in Cartesian Space

研究了在笛卡尔坐标系中工业机器人空间直线及圆弧轨迹规划问题,提出利用抛物线过渡的空间直线插补算法和基于局部坐标系的空间圆弧插补算法。以上算法在自行设计的五自由度喷涂机器人上进行了实验验证。实验结果表明,该直线和圆弧插补算法能保证机器人运行平稳,轨迹衔接平滑。

This paper studies the linear and circular trajectory planning problem of industry robot in Cartesian space ,presents the space linear interpolation algorithm based on spatial parabolic transition and circular interpolation algorithm based on local coordinate system .The above algorithms are applied to a self-designed spraying robot with five degrees of freedom .Experimental results show the linear and circular interpolation algorithms can ensure that the robot runs smoothly and trajectory convergence is smooth .