摘要
为改善三次多项式插值算法在机械臂运动过程中由于角速度和角加速度变化曲线的突变情况导致的关节抖动、运动轨迹偏差现象,提出对机械臂的各关节运动轨迹采用七次多项式插值算法进行规划。以五自由度机械臂为研究对象,选择改进型D-H法(Denavit-Hartenberg)构建运动学模型。仿真结果显示,采用七次多项式插值算法,所得关节运动轨迹光滑连续、无突变,提升了机械臂的运动精确性,减少了抖动对硬件造成的损耗,具有一定的应用价值。
In order to improve the phenomena of joint jitter and trajectory deviation caused by abrupt change of angular velocity and angular acceleration curves in the process of manipulator motion by cubic polynomial interpolation algorithm,a the seventh-order polynomial interpolation algorithm is proposed to plan the motion trajectory of each joint of the manipulator.The 5-DOF manipulator is taken as the research object,and the improved D-H method(Denavit-Hartenberg)is selected to construct the kinematic model.The simulation results show that the joint motion trajectory obtained by using the seventh-order polynomial interpolation algorithm is smooth and continuous without abrupt change,which improves the motion accuracy of the manipulator and reduces the hardware loss caused by jitter,and has certain application value.
作者
王裕民
秦飞舟
WANG Yumin;QIN Feizhou(School of Physics and Electrical and Electronic Engineering,Ningxia University,Yinchuan 750000,China)
出处
《电工技术》
2022年第8期62-66,69,共6页
Electric Engineering
基金
国家自然科学基金“不确定RDF知识图谱数据查询关键技术研究”(编号62066038)。
关键词
五自由度机械臂
运动学分析
轨迹规划
七次多项式
5-DOF manipulator
kinematics analysis
trajectory planning
seventh degree polynomial
