工业机器人轨迹规划研究

Study of Trajectory Planning for Industrial Robots

工业机器人的轨迹规划在指导机器人进行作业任务越来越重要。在工业机器人在笛卡尔空间进行轨迹规划的位置插补和姿态插补问题的研究中,逆运动学的求解是轨迹规划的前提,给出了采用DH参数的工业机器人逆解的雅克比迭代算法。上述算法简单,通用性高,根据当前状态能得到唯一最优解。对于规划过程中的姿态插补,采用四元数表示姿态变换有效地解决了使用欧拉角过程中出现的万向锁问题。最后分别对机器人的直线轨迹和圆弧轨迹做了仿真与实验,实验结果表明机器人的位姿可以沿着规划的轨迹实现平滑运动,表明了上述方法的可行性,具有一定的推广意义。

The trajectory planning of industrial robots has become more and more important in robot task. In this paper, we study the position interpolation and orientation interpolation in Cartesian space. Solving the inverse kinematics is the basis of robot trajectory planning. Thus, we provide a solution with Jacob iteration algorithm based on the DH parameters that can solve the inverse kinematics, this solution is simple, high versatile, and can achieve the unique optimal answer according to the current state. For the orientation interpolation process, using unit quaternion can effectively resolve the Euler angle problem which gimbal lock may arise. Simulation results, for linear trajectory and circular trajectory, respectively, show that the position and orientation of the robot can achieve smooth motion along the planned trajectory. So it illustrates the feasibility of the method described above and has a certain sense of promotion.