机器人点位控制速度规划算法选择策略

Selection strategy of feedrate planning algorithm for robot point-to-point control

针对机器人点位控制的速度规划算法选择问题,提出了一种基于时间最优的选择策略。针对目前机器人点位控制广泛使用的S曲线加减速算法与修正梯形加减速算法,首先使用参数遍历法,获得两者在不同情况下各自的表示形式并进行组合,其次对所有组合情况下两者的运动效率进行比较,同时结合算法本身的特性,最终归纳总结得到选择策略。通过仿真实验可知,在运动参数已知的情况下选择的结果是基于时间的最优解,证明了选择策略的准确性。

To solve the problem of the feedrate planning algorithm selection for robot point-to-point(PTP)con-trol,a time-based selection strategy is proposed.The strategy is mainly for the S-shape curve accelera-tion and deceleration(Acc/Dec)algorithm and the modified trapezoidal Acc/Dec algorithm,which are widely used in robot PTP control.Firstly,use the parameter-traversed method to obtain the respective representations of two algorithms in different situations and combine all of them.Then Compare the effi-ciencies,take into account the characteristics of the two algorithms and summarize all above to obtain the selection strategy.Finally,the proposed selection strategy is verified by MATLAB.Through the simu-lation experiments,it can be seen that when the motion parameters of robot PTP control are known,the result obtained by the strategy is an optimal solution based on time,which proves the accuracy of the se-lection strategy.