机器人的运动轨迹插值方法研究与分析

The robot trajectory interpolation method of research and analysis

为了实现工业机器人手臂末端执行件在作业过程中的运动轨迹平稳、光滑且连续,同时关节运动轨迹中的速度、加速度变化光滑连续,且变化过程中不出现突变情况。基于NACHI的MZ07六自由度工业机器人,对其进行逆运动求解,在关节空间中,对过路径点的三次多项式、高阶多项式的插值算法进行研究与仿真。在过路径点的点到点(PTP)运动中采用三次与五次多项式结合的"353"多项式插值算法,并通过仿真,证明了"353"多项式插值能使各关节加速度变化得到平稳轨迹,并且降低了使用五次多项式插值后关节较高的最大加速度,使加速度变化更加平稳,减小了机构冲击。

In order to achieve the end of the industrial robot arm to perform a smooth motion trajectory in the process of operation, smooth and continuous, at the same time, the velocity and acceleration in joint movement trajectory smooth continuous changes, changes don＇t appear in the process of mutation, six degrees of freedom based on NACHI MZ07 industrial robot, and solving inverse movement, in joint space, across the path points of cubic polynomial, the study of high order polynomial interpolation algo- rithm, and simulation, in view of the research and analysis results, in the point - to - point （PTP） movement is proposed that ＂ 353＂ polynomial interpolation algorithm that is using the combination of three and five times polynomial, and through the simulation, it proved that the ＂353＂ polynomial inter- polation can make smooth trajectory of the c of five times polynomial interpolation after change is more stable, reduce the impact. hanges in the acceleration of each joint, and reduces the use joint higher maximum acceleration, make the acceleration