喷涂机器人机械臂运动轨迹优化

Trajectory Optimization of Spraying Robot Manipulator

喷涂机器人机械臂是工业自动化的重要部分,需对其的运动轨迹进行优化。为了使机械臂更好地融入到自动化生产中,首先建立了机械臂的三维模型。基于Bezier建立了机械臂运动轨迹的曲线模型,并求解出了曲线表达式;同时使用三角Bezier得到机械臂运动轨迹的曲线模型,并将求解结果与Bezier曲线计算结果相比较,得到两种优化方法的差异性。研究表明:采用三角Bezier曲线进行机械臂的运动轨迹规划,可以使关节的角加速度和角加加速度都连续,有效地防止它在工作过程中发生振动和冲击。

Spraying robot manipulator is an important part of industrial automation,and its trajectory needs to be optimized.In order to better integrate the manipulator into the automatic production,the three-dimensional structure model of the manipulator is established.Based on Bezier,its curve model is established and its curve expression is solved.At the same time,the triangular Bezier is used to get its curve model,and the results of its solution are compared with those of Bezier curve,and their differences are found.The research shows that using the triangular Bezier curve to plan the trajectory of the manipulator can make the angular acceleration and angular jerk of the joint continuous,and effectively prevent its vibration and shock in the working process.