改进B样条曲线的机器人轨迹拟合研究

Research on robot trajectory fitting based on improved B-spline curve

以工业生产中常用的六自由度串联机器人PUMA560为研究对象,在关节空间采用改进B样条曲线进行轨迹拟合规划,相比于传统B样条插值与拟合算法显著改善了规划得到的轨迹全局最优解,并基于最优解对各关节进行规划得到时间最优的运动轨迹,验证该算法可以有效提高机器人运行效率的目的。

Six-degree-of-freedom series robot PUMA560 commonly used in industrial production is taken as research object. The improved B-spline curve is used in joint space for trajectory fitting planning. Compared with the traditional B-spline interpolation and fitting algorithm,the global optimal solution of trajectory obtioned by planning is improved obviously. The global optimal solution of trajectory is obtained,and the optimal trajectory is obtained by planning the joints based on the optimal solution. It is verified that the algorithm can effectively improve the efficiency of the robot.