基于Hermite方法的机器人任务空间二阶平滑位姿路径构造

Second Order Smooth Pose Path Construction of Robot Task Space Based on Hermite Method

机器人任务空间的路径构造一直是研究者们重点关注的对象,更加平滑的路径对于机器人运动尤为关键。提出一种机器人任务空间二阶平滑位姿构造方法。位姿路径分为位置路径与姿态路径,用直线和圆弧来表示基本的位置路径,用四元数来表示姿态路径。根据环境给定的过渡区域,基于Hermite方法分别构造位置和姿态路径的过渡曲线,并设计高效易懂的数值积分算法实现位姿路径长度的计算,然后综合数值积分和二分法查找算法实现给定路径长度的插值计算。最后,在MATLAB软件上进行数值仿真分析,验证了所提算法在机器人任务空间二阶平滑位姿路径构造方面的有效性。

The path construction of robot task space has always been the focus of researchers,and a smoother path is particularly critical for robot motion.A method to construct a second-order smooth pose path for robot task space was proposed.The attitude path was divided into position path and attitude path.Line and arc were used to represent the basic position path,and quaternion was used to represent the attitude path.According to the transition region given by the environment,the transition curve of position and attitude path was constructed respectively based on Hermite method,and an efficient and easy to understand numerical integration algorithm was designed to calculate the length of pose path.Then the interpolation calculation of given path length was realized by using integrating numerical integration and dichotomy search algorithm.Numerical simulation analysis was made in MATLAB.The effectiveness of the algorithm in second-order smooth pose path construction for robot task space was verified.