一种串联机器人笛卡尔空间轨迹规划方法

Cartesian space trajectory planning method for serial robot

以串联机器人为研究对象,综合考虑其运动学和动力学约束,提出一种笛卡尔空间中的无冲击近似时间最优轨迹规划方法。首先将机器人关节驱动电机的约束条件转化成参数空间中的约束条件;接着将以时间最优为目标的轨迹优化问题转化成二阶锥规划问题,并运用MATLAB中的SeDuMi工具箱进行求解;然后提出一种识别和处理力矩突变点的算法,在关节力矩存在突变的点时使用五次多项式进行处理,从而消除原时间最优轨迹的冲击;最后给出了3R串联机器人末端沿指定路径运动的算例,通过对比机器人执行轨迹过程的相关参数,验证了算法的有效性。

Taking series robots as the research object and considering their kinematics and dynamics constraints comprehensively,this paper proposes a method of impact-free approximate time optimal trajectory planning in Cartesian space.First,it transforms the constraint conditions of the robot joint drive motor into the constraint conditions in the parameter space.Next it transforms the trajectory optimization problem which aims at time optimization into a second-order cone programming problem and USES the SeDuMi toolbox in MATLAB to solve it.Then it proposes an algorithm to recognize and deal with the abrupt transition point of moment,and USES the quintic polynomial to deal with the abrupt transition point of joint moment,so as to eliminate the impact of the original time optimal trajectory.Finally,it gives an example of the end of a 3R tandem robot moving along the specified path,and verifies the effectiveness of the algorithm by comparing the relevant parameters of the trajectory process of the robot.