一种并联机器人的时间最优轨迹规划方法

A Method of Parallel Robot Time Optimal Trajectory Planning

为提高Delta机器人的动作速度,提出一种时间最优轨迹规划方法。分割机器人的工作区域,选择每个区域的中心点作为标准点,通过逆运动学方法将笛卡尔空间坐标转换到关节空间,采用5次B样条插值构造关节空间的运动曲线,利用分数阶粒子群算法寻找各区域标准点的B样条全局最优时间节点,规划时间最佳运动曲线。在保证关节角速度、角加速度、角加加速度平滑及约束的前提下,提高动作速度。利用模糊推理规则,在线确定计算点的最优时间节点分布。实验结果表明,该方法简单实用,以实验室Delta机器人为例,将工作区域中的物件抓取到目标位置,所用时间范围为0.543s^0.735s,克服了传统轨迹规划方法运行速度较慢的不足。

A method of time-optimal trajectory planning is proposed in order to improve the Delta robot movement speed.Dividing the robot working area,it selects the center point of each area as a standard,and converts them into the joint space through the inverse kinematics.It uses 5th order B-spline interpolation to constructed joint space curve.Fractional particle swarm optimal method is used to optimize the global optimum point and plan time optimal motion curve.Under the premise of the joint angular velocity,angular acceleration,angular jerk smooth and constraints,the operating speed is improved.The fuzzy controller is used to divide the distribution of time node.Experimental results show that the method is simple and practical.Delta robot in laboratory picks up object from the work area to the target position,the time range is 0.543 s^0.735 s.So the method overcomes the shortcomings of traditional trajectory planning method speeds.