机器人工作空间轨迹规划仿真研究

Simulation of Trajectory Planning for Robot Workspace

在机器人进行工作空间的轨迹优化的研究中,对机器人进行工作空间的轨迹规划,可使机器人拥有良好的工作空间运动学和动力学性能,而关节空间中的性能相对较差。所以在工作空间内对机器人进行轨迹规划,并在实际应用中,使其在关节空间内拥有良好的速度响应性能和位置精度等是轨迹规划的难点。为了解决上述问题,将编写Python语言的轨迹规划程序,使用纯工作空间的五次样条函数对Delta机器人进行合理的轨迹规划,再利用两种动力学优化模型对轨迹规划结果进行合理的优化对比。结果表明,工作空间轨迹规划法得到的拟合曲线具有良好的工作空间性能,动力学优化后的拟合曲线提高了工作空间末端执行器或关节空间驱动电机的运动学和动力学性能。

Trajectory planning can make robot workspace have good workspace kinematics and dynamics performance. But,the performance is relatively poor in the joint space. Therefore,within the workspace of robot trajectory planning,and in practice,make it in the joint space with good speed response performance and position accuracy is a key problem. In order to solve this problem,trajectory planning program of the Python language is developed by using pure five workspace of spline function. Trajectory planning results are optimized by two kinds of dynamic optimization models. The results show that the workspace trajectory planning method can get the fitted curve with good workspace performance. The kinematics and dynamics performances of workspace end effector or joint space drive motor are improved by the dynamic optimization.