基于执行时间约束的机器人关节空间轨迹优化

Trajectory optimization of robot in joint space based on constraints of execution time

为在保证机器人运动轨迹的平滑性的条件下提高机器人工作效率,提出一种基于轨迹执行时间归一化处理的关节空间运动轨迹规划优化算法。对轨迹的执行时间进行归一化处理,分析关节空间位置、速度、加速度的运动轨迹相对于归一化时间的数学模型;考虑关节运动参数的约束条件,采用五次多项式拟合机器人在关节空间的运动轨迹,分析不同轨迹执行时间对关节位置运动轨迹的超调量的影响,实现机器人关节空间的位置轨迹优化;在Matlab环境里对机器人的运动轨迹进行仿真建模,完成机器人运动学仿真。多组仿真结果表明,该算法在保证机器人轨迹平滑的基础上,能保证轨迹执行时间最优,有效地提高机器人的运动效率。

To improve working efficiency of the robot on the premise of ensuring its smooth motion trajectory ,a trajectory plan‐ning optimization in joint space based on normalization method was proposed .Firstly ,the execution time of the robot movement was normalized ,and the mathematical models of position ,velocity ,acceleration motion curves were built .Then a fifth order pol‐ynomial was used for joint trajectory planning of the manipulator so as to fulfill the contrains of motion parameters .Moreover , since theoretical analysis illustrates that the execution time of the trajectory wields a lot of influence over the movements of the joints ,a position trajectory optimization algorithm was proposed to solve this problem .Finally ,simulations of the movement trajectories in Matlab were given to evaluate the performance of this optimizing method .Numerical simulation results indicate that the high‐performance of the optimized trajectory planning algorithm can generate smooth motion trajectories with the smal‐lest overshoot and the lowest energy consumption ,and produce effective enhancements on the productivity of the manipulator .