摘要
针对轨迹规划曲线的平滑性进行研究,提出能够保证C2连续的正弦波加速度曲线对圆弧轨迹曲线进行升降速控制,并采用四元数球面线性插值规划机器人末端平滑的圆弧姿态轨迹。最后在六关节搬运机器人上进行仿真与试验,结果表明:运用正弦波加速度曲线进行升降速控制,不仅能够保证C2连续,而且计算量相对较小,能够较好地满足机器人控制的实时性要求。
Smoothness of the spatial curve of trajectory planning was researched. It was put forward to ensure the C2 continuous si- nusoidal acceleration curve to control the speed of circular arc track, and using quaternions spherical linear interpolation planning a smooth circular trajectory of robot end-effector. Finally the simulation and experiment on six joints handling robot were conducted. The results show that using the sinusoidal acceleration curve of speed control, not only the C2 continuous is guaranteed, but also the amount of calculation is relatively small, which can well meet the real-time requirement of robot control.
出处
《机床与液压》
北大核心
2017年第3期32-37,共6页
Machine Tool & Hydraulics
基金
江苏省科技支撑计划-工业部分(BE2014025)
关键词
工业机器人
正弦波加速度曲线
轨迹规划
圆弧插补
四元数
Industrial robot
Sinusoidal acceleration curve
Trajectory planning
Arc interpolation
Quaternion
