基于五段S型曲线的机械手速度规划策略

Manipulator Speed Planning Strategy Based on the Five-segment S-curve

针对在工艺加工路径中直角坐标机械手末端合成插补速度保持一致的要求,将五段S型曲线加减速控制方法引入直角坐标机械手的速度控制中,提出了基于五段S型加减控制曲线的预加减速控制方法,研究了算法模型以及在有匀速段和无匀速段情况下的具体加减速控制方法;并且提出了基于增加空走行程的多段连续加工路径衔接点处速度规划策略,给出了具体的速度控制方法和算法公式。仿真表明,所提出的预加减速算法和衔接点速度控制策略能够达到机械手末端合成插补速度在整个加工路径中速度保持一致的要求,并且能够有效降低加工过程中对直角坐标机械手平台的冲击。

For the requirement of maintaining the speed of manipulator in the processing path, the S-curve speed control method was introduced into controlling the speed of the manipulator. The method of acceleration-deceleration was proposed based on the improved S-curve and the speed planning strategy of the continuous-path also was proposed. The speed control method and algorithm formula were given. The simulation shows that the speed control method and strategy can achieve the requirements of the machining path of manipulator＇s end synthetic interpolation speed, and can effectively reduce the impact of processing process for the manipulator platform.