基于Jerk最优的机器人轨迹规划

Trajectory Planning of Robot based on the Jerk Optimal

针对机器人任务路径轨迹的复杂性和稳定性要求,提出了一种基于Jerk最优的笛卡尔空间轨迹规划方法,得到一条光滑和平稳的机器人动作轨迹。机器人轨迹被约束通过笛卡尔空间中一系列路径点,采用Jerk连续可导的余弦函数曲线来插补路径点之间的机器人轨迹,通过求解逆运动学计算出期望的机器人关节角度。最后,以NAO机器人为平台对轨迹规划方法进行了仿真与实验验证。实验结果显示,规划得到的机器人路径轨迹光滑平稳没有突变,顺利地完成实验任务动作。

According to the need of the stability and complexity of the robot trajectory path,a method of Cartesian space trajectory planning based on the Jerk optimal is presented,a smooth and stable robot motion trajectory is obtained. The trajectory path is imposed through limits on the waypoints in the Cartesian space,the continuous differentiable cosine curve is used to interpolate the robot trajectory path between the waypoints,and the expected joint angle of robot is calculated by solving the inverse kinematics. Finally,the trajectory planning method is validated through simulations and experiments on NAO robot. The experimental results show that the smoothness and stability of the trajectory path is excellent,the experiment task action are completed successfully.