基于Jerk值限制的三阶匀加减速运动轨迹设计

Design of third-order uniform acceleration and deceleration motion trajectory based on Jerk value limitation

为了提高机器人的运动精度,让机器人的运动更加平滑,在二阶运动轨迹的基础上加入Jerk值这一限制条件。实验中根据Jerk值的变化将一个两点之间的运动轨迹分成七段,建立各个阶段的数学模型。设计运动轨迹的逻辑控制算法,以Simulink中Stateflow工具箱为载体,利用Stateflow中的状态模块以及逻辑控制转换模块,将建立的运动轨迹数学模型以及逻辑控制演算法结合在一起,设计成一个三阶匀加减速运动轨迹产生器。通过三阶运动曲线生成的梯形加速度轨迹可以使机器人在运动过程中减少运动冲击,延长使用寿命,在实际工业应用中具有十分重要的意义。

In order to improve the motion accuracy of the robot and make the robot′s motion more smooth,the limitation of Jerk value is added to the second-order motion trajectory. According to the change of Jerk values in the experiment,the motion trajectory between two points is divided into seven sections,and the mathematical model of each section is established. The logic control algorithm of the motion trajectory is designed. The Stateflow toolbox in Simulink is taken as the carrier,and the state module in Stateflow and logic control conversion module are used to combine the logic control algorithm with established mathematical model of motion trajectory to form a third-order uniform acceleration and deceleration motion trajectory generator. The trapezoidal acceleration trajectory generated by the third-order kinematic curve can reduce the motion impact and prolong the service life of the robot during the movement process of the robot,which is of great significance in practical industrial applications.