工业机器人轨迹规划方法综述

Trajectory Planning Methods for Industrial Robots: A Review

轨迹规划是工业机器人运动控制的基础,对工业机器人的工作效率和稳定性有重大影响。为掌握工业机器人轨迹规划方法的研究现状,根据工业机器人规划空间和优化目标的不同对轨迹规划方法进行分类,介绍了直线、圆弧等基本轨迹的优缺点和适用场合,分析了基于约束和智能算法的各种最优轨迹规划算法的思路和性能特点。指出了基于强化学习的轨迹规划、轨迹误差预测和补偿、动态避障、多机器人运动规划等是工业机器人轨迹规划的关键问题和重要研究方向。

Trajectory planning is the basis of motion control for industrial robots, which has a significant impact on the working efficiency and stability of industrial robots. In order to master the research status of trajectory planning methods for industrial robots, the trajectory planning methods are classified according to the planning space and optimization objectives. The advantages, disadvantages and application occasions of basic trajectories such as straight line and arc are introduced. The ideas and performance characteristics of various optimal trajectory planning algorithms based on constraints and intelligent algorithms are analyzed. It is pointed out that trajectory planning based on reinforcement learning, prediction and compensation of trajectory errors, dynamic obstacle avoidance and multi-robot motion planning are the key issues and important research directions of trajectory planning for industrial robots.