笛卡尔和关节空间联合轨迹规划研究

Research of the Combined Trajectory Planning of Descartes Space and Joint Space

为了能得到更满足实际需求的轨迹,找到更优的轨迹规划方法,在前人的基础上将笛卡尔空间规划和关节空间进行结合,找出了一种联合空间规划的方式进行轨迹规划。通过闭环矢量法建立运动学方程和基于B样条的函数模型对不同空间轨迹拟合,分别拟合得到关节空间的运动曲线、笛卡尔空间的运动曲线以及联合空间规划曲线,最后通过样机进行了试验验证。通过对得到的结果分析,发现速度和加速度在周期时间内的变化,可知联合空间轨迹规划相对与于另外两种单一空间规划得到的拟合曲线的效果明显更优,高质量的运动轨迹将会提高整个运动的平稳性,减少运动过程中的冲击;同时与实验结果对比,运动趋势趋于一致,部分曲线有细微差,需要进行进一步优化。

In order to.get better meet the actual needs of trajectory, and to find a better method of trajecto- ry planning, a combined space planning method for trajectory planning which combine Descartes space with joint space planning is found based on the former. Through the closed loop vector method, kinematics equation is established and the space trajectory is fitted based B spline function model, the motion curve of the joint space planning and the motion curve of Descartes space planning and the motion curve of combined space plan- ning are obtained. Finally, through the prototype, the test verification is carried out. Through the analysis of the obtained results, it is found that the changes of the velocity and acceleration in the cycle time of combined space trajectory planning is better than the joint space trajectory planning or spatial planning of Descartes alone, and it will improve the quality of the whole movement of high level stability and reduce the impact in the move- ment process. Comparing with the experimental results, the movement trend tend to be consistent, the part of the curve have subtle difference and need further optimization but the method has very important significance for machine operation.