基于DENSO机器人的地插打磨时间最优轨迹规划

Time-Optimum Trajectory Planning of Floor Socket Grinding Based on DENSO Robots

高档装饰用地插多采用铜或不锈钢材质,其外观要求光亮圆滑。为实现DENSO机器人在执行打磨作业过程中运动高效、平滑且连续,对比分析了匀加速匀减速、三次多项式、五次多项式三种插值方法,对机器人手臂末端轨迹进行任务空间轨迹规划。通过对DENSO机器人逆运动学求解,将任务空间轨迹转换到关节空间。运用MATLAB建模仿真得到机器人各关节的角位移、角速度及角加速度曲线图,结果表明用五次多项式插值法规划后的各关节角位移、角速度及角加速度曲线更加平滑且无突变,机器人运动性能优于另外两种方法。根据角加速度曲线波动范围及最大允许角加速度的限制,对各段轨迹运动时间进行了重新分配,得出在满足DENSO机器人运动平稳和物理约束的条件下所需的最短时间。最后通过整机实验与对比,实现了DENSO机器人对地插打磨作业的时间最优轨迹规划,为进一步提高机器人工作效率奠定了理论基础。

High-grade decorative floor socket consists of copper or stainless steel,and its appearance requirements are bright and smooth.In order to realize the efficient,smooth and continuous operation of the DENSO robot in process of grinding,three interpolation methods,uniform acceleration-deceleration,cubic polynomial and quintic polynomial,werecontrasted and analyzed.The trajectory of the robot end was planned on task space.The task space trajectory was transformed into joint space by solving the inverse kinematics of DENSO robot.The angular displacement,angular velocity and angular acceleration curve of each joint of the robot were obtained by MATLAB modeling.The results show that the angular displacement,angular velocity and angular acceleration curve of each joint were more smooth and no mutation after planed by quintic polynomial interpolation method.And motion performance of robot was better than the other two methods.According to fluctuation range of angular acceleration curve and maximum allowable angular acceleration,the time of each trajectory movement was reallocated,and the shortest time was obtained under the condition of satisfying motion and physical constraint of DENSO robot.Finally,through the experiment and comparison of the whole machine,the time-optimal trajectory planning of DENSO robot on floor socket grinding was realized,what lays a theoretical foundation for further improving the working efficiency of the robot.