摘要
针对机器人调试过程中遇到的超限问题,提出了一种满足运动约束的加速度最优T型速度曲线控制方法,利用拉格朗日法分析了码垛机器人的动力学性能,论述了机器人轨迹规划算法的实现过程.该算法在保证运动平稳的基础上,充分发挥了驱动关节的驱动性能.与传统速度曲线的对比表明,无论单轴还是轴组模式下,机器人的控制效果均得到了明显的提高.
In order to solve the problem of overrun in the process of robot debugging, a control method with optimal acceleration is proposed based on T type velocity curve under motion constraint. The dynamics performance of the palletizing robot is analyzed by using Lagrange method and the realization process of robot trajectory planning algorithm is discussed. This algorithm makes full use of the driving performance of the driving joint on the basis of smooth and stable movements. Compared with the traditional velocity curves, the control effect of the robot is significantly improved both in the singie axis mode and the axis group mode.
出处
《大连理工大学学报》
EI
CAS
CSCD
北大核心
2017年第2期177-183,共7页
Journal of Dalian University of Technology
基金
国家自然科学基金资助项目(61472062)
中央高校基本科研业务费专项资金资助项目(DUT15ZD230
DUT16RC(4)20)
国家科技支撑计划资助项目(2015BAF20B02)
关键词
码垛机器人
动力学
轨迹规划
最优加速度
palletizing robot
dynamics
trajectory planning
optimal acceleration
