一种改进的工业机器人轨迹规划方法研究

Research of an Improved Trajectory Planning Method for Industrial Robot

针对机器人运动轨迹求解过程中,因5次多项式插值法而产生的突变现象,提出一种改进的5次多项式插值法。以某公司生产的ER3A-C60型工业机器人为研究对象,首先采用标准D-H参数法建立了机器人的连杆坐标系,然后创建机器人仿真模型并进行运动学正解、逆解的求解,做出了机器人末端的工作空间点云图。在求解机器人运动轨迹过程中,提出了一种5次多项式插值与B样条插值相融合的方法以消除突变现象,经实验对比论证后发现,优化后的关节相关曲线更加光滑平稳,能较好地消除突变现象,避免了机器人在运动过程中因振动和冲击的发生而影响机器人使用性能和寿命。

An improved quintic polynomial interpolation method is proposed to solve the catastrophe phenomenon caused by the original method order in the course of solving the motion trajectory of the robot.The ER 3A-C60 industrial robot produced by a company is taken as the research object.Using the standard D-H parameter method,the coordinate system of the robot connecting rod is established first,then,the robot simulation model is created and the kinematics forward solution and inverse solution are solved,the workspace point cloud image at the end of the robot is also been made.In the process of solving robot motion trajectory,a fusion method of polynomial interpolation and B-spline interpolation is proposed to eliminate the catastrophe phenomenon.The experimental results show that the optimized joint correlation curve is smoother,the mutation phenomenon is eliminated,and the impact of vibration and shock on the performance and life of the robot is avoided.