工业机器人倍四元数轨迹规划算法的研究

Research on Trajectory Planning of Industrial Robots with Double Quaternion

针对工业机器人在笛卡尔空间的轨迹规划曲线的平滑性与实时性,提出一种用于描述超球面旋转的倍四元数对机器人运动轨迹进行球面线性插补,并结合正弦波加速度曲线升降速控制算法对轨迹规划的速度进行控制,为机器人的轨迹规划提供了一种新的位姿规划的解决方案。在六关节搬运机器人控制系统平台上进行了仿真与试验,验证了该算法解决方案的有效性。

For the curve smoothness and real-time requirements of industrial robot trajectories in cartesian space,the paper represented hyperspheres rotation quaternion of robot trajectory spherical linear interpolation,combined with the algorithm of sinusoidal acceleration curve lifting velocity to control the trajectory planning.It provides a new solution of position and pose planning.Finally,simulations were performed in six joints handling robot control system platform,then to prove the validity of the algorithm solution.