关节型机器人轨迹规划算法及轨迹规划研究现状

The Algorithm and Research Status of Trajectory Planning of Joint Robot

随着制造产业的飞速发展,工业机器人逐渐在人们的生产活动中变得尤为重要。而轨迹规划对于机器人提高工作效率和质量都十分关键。针对机器人轨迹规划在国内外的研究进展进行了综述,介绍了一些常用的关节型机器人的轨迹规划算法,包括关节空间中三次多项式插值算法、五次多项式插值算法、抛物线插值算法以及笛卡尔空间中的直线插补和圆弧插补等轨迹规划算法。同时对各轨迹规划算法进行了对比分析得出其各自优劣,介绍了空间轨迹规划和最优轨迹规划的研究现状,分析了目前一些方法所产生的作用与存在的缺陷或问题,并指出这些算法在以后的研究中应考虑的方向以及关节型机器人有待进一步研究的轨迹规划问题和发展趋势。

With the rapid development of manufacturing industry,industrial robots become more and more important in people's production activities gradually.And trajectory planning is very important for the robot to improve its work efficiency and quality.So this paper summarizes the research progress of robot trajectory planning both at home and abroad,introduces some commonly used algorithms for trajectory planning of robot,including planning methods commonly used in the joint space,namely three and five polynomial interpolation algorithms and parabolic interpolationalgorithm in the Cartesian space,linear interpolation and circular interpolation trajectory programming method.At the same time,the trajectory planning algorithms are compared and analyzed to obtain their respective advantages and disadvantages.The research status of space trajectory planning and optimal trajectory planning is introduced and the currently produced effects and defects or problems of the trajectory planning are analyzed,the trend of development of the algorithm that should be considered in the research and the trajectory planning for the joint robot for further research are pointed out.