面向工业机器人的位姿同步加减速算法

Synchronous Acceleration and Deceleration Algorithm of Position and Attitude Facing for Industrial Robot

为满足工业机器人在执行笛卡尔空间下的连续轨迹控制指令时,机器人末端执行器位置轨迹和姿态轨迹光滑连续且同步规划的要求,提出一种面向工业机器人的位姿同步加减速算法。从正弦波加速度曲线加减速控制方法出发,采用最佳平方逼近法,求出了具有光滑连续曲线的加速度-时间、速度-时间和位移-时间函数。在所求函数的基础上,按照完全同步控制策略,给出了位置轨迹和姿态轨迹的同步规划处理过程,最终得到位姿同步加减速算法。实验结果表明:相较于非对称S曲线加减速控制方法、带约束S型曲线加减速控制方法和正弦波加速度曲线加减速控制方法,以及本文所提算法的规划运动时间分别缩短了5%、5%、3.2%,时间复杂度分别降低了48.9%、50.5%、16.4%,运动曲线平滑性更好,实现了位置轨迹和姿态轨迹的同步规划处理。

In order to meet the requirements of smooth,continuous and synchronous planning of the robot end-effector position trajectory and attitude trajectory when industrial robots execute Continuous Path commands in Cartesian space,a synchronous acceleration and deceleration algorithm of position and attitude facing for industrial robots was proposed.Starting from the sine wave acceleration curve acceleration and deceleration control method,the acceleration-time,velocity-time and displacement-time functions of smooth continuous curves were obtained by using the best square approximation method.On the basis of functions,according to the fully synchronous control strategy,the process of position trajectory and attitude trajectory synchronous planning was given,and finally the synchronous acceleration and deceleration algorithm of position and attitude was obtained.The experimental results show that compared with the asymmetric S-shaped curve acceleration and deceleration control method,the constrained S-shaped curve acceleration and deceleration control methodand the sine wave acceleration curve acceleration and deceleration control method,the algorithm proposed by this paper reduces the planned motion time by 5%,5%and 3.2%respectively,the time complexity by 48.9%,50.5%and 16.4%respectively,the smoothness of the motion curve is better,and the synchronous planning of position and attitude is realized.