多轴联动动态前瞻轨迹规划

Dynamic Trajectory Planning with Look Ahead for Multi Axis Linkage

为使工业机器人有一个更平稳的运行轨迹,针对多轴联动轨迹规划中相邻两段之间的过渡问题,提出一种高效的过渡处理方法。根据动态给定的位置序列、前瞻段数、轴的速度和加速度范围,结合反向前瞻和正向规划方法,提出一种新型的多轴联动动态前瞻轨迹规划核心算法。在此算法基础上,应用S形滤波器将该算法所规划的梯形速度曲线转化为S形速度曲线。采集六自由度工业机器人的关节位置点序列进行仿真研究,以验证所提算法的性能。

In order to make the industrial robot have a more stable trajectory,an efficient transition processing method was pro⁃posed for the transition problem between two adjacent segments in multi axis linkage trajectory planning.According to the dynamically given position sequence,number of blocks with look ahead,ranges of velocity and acceleration of the axes,combined with backward look ahead technique and forward planning method,a novel dynamic trajectory planning kernel algorithm with look ahead for multi axis linkage was proposed.On the basis of this algorithm,the trapezoidal velocity curve planned by the algorithm was transformed into S-shaped velocity curve by using S-shaped filter.To verify the performance of the proposed algorithm,the joint position sequence of a 6-DOF industrial robot was collected and simulated.