基于最小冲击的三自由度永磁球形电机轨迹规划

Minimum-Jerk Trajectory Planning of 3-DOF PM Spherical Motor

为了提高三自由度永磁球形电机在指定时间内完成运动任务的平滑性,减小运动过程中的振动程度,提出一种能达到最小冲击的轨迹规划方法。为保证冲击连续,该方法采用5次B样条曲线插值位置序列,将运动学约束转化为B样条曲线控制顶点约束,以冲击平方积分的最小值作为平滑性能指标。采用遗传算法对最小冲击性能指标和相对应的时间节点向量全局寻优,规划出最小冲击轨迹。最后,通过仿真实验验证了该方法的可行性和有效性。

In order to improve the smoothness and reduce the vibration during the motion of the three degree of freedom permanent magnet spherical motor in the definite time, a minimum-jerk trajectory planning method was proposed. To ensure the jerk continuously, the method used fifth B spline interpolation position sequence, and transformed the kinematic con- straints to B spline control points constraint, and took the minimum integral of squared jerk as minimum-jerk performance index. Genetic algorithm was used to seek the minimum-jerk performance index and the corresponding time nodes, and then the global optimization minimum-jerk trajectory planning was got. Finally, the feasibility and effectiveness of the proposed method are verified by simulation experiments.