机器人匀速仿形运动控制方法研究

为了提高工业机器人在仿形运动中的匀速性能,对匀速仿形跟踪运动方法进行了研究:采用自适应NURBS曲线插补方法生成仿形路径点,根据点云数据进行仿形末端姿态的规划,通过连续路径匀速运动方法生成最终轨迹。最后在matlab仿真平台进行了仿真分析,通过插补次数为35次NURBS插补后,通过连续路径匀速运动轨迹规划生成的轨迹的速度波动由5%降至0.2%以内,验证了该方法的有效性。

In order to improve the uniform velocity performance of industrial robots in copying motion,this paper studies the uniform velocity copying motion method:an adaptive NURBS curve interpolation method is adopted to generate copying trajectory position points,copying trajectory attitude planning is carried out according to point cloud data,and the final trajectory is generated by continuous path constant velocity motion method.Finally,the simulation analysis was carried out on the matlab simulation platform.After the number of NURBS interpolation was 35 times,the velocity fluctuation of the trajectory generated by the constant motion trajectory planning of the continuous path decreased from 5%to less than 0.2%,verifying the effectiveness of the method.