基于路径特征点算法的机械臂跟踪目标轨迹优化

Trajectory Optimization of Manipulator Tracking Target Based on Path Feature Point Algorithm

为了提高机械臂跟踪目标轨迹效率,设计了一种基于路径特征点算法的机械臂跟踪目标轨迹优化方法。选择相平面法设置速度曲线,利用相平面法调节的方式使算法达到更高处理效率,通过轨迹平滑处理的方式来达到稳定控制机械臂运动状态的效果。研究结果表明:形成了平滑过渡的速度和加速度曲线,获得的速度曲线能够达到连续光滑的性能要求。规划得到的最大速度曲线与加速度/力矩条件相符,可以有效实现机械臂驱动功能。随着路径点数量增加后,会导致算法时间的明显延长,设置太多路径点数量的条件下以路径特征点算法处理时可以实现算法效率的显著提升。采用本文算法可以获得比其它路径规划算法更短的耗时,且更适合于复杂路径。

In order to improve the efficiency of robotic arm tracking target trajectory,an optimization method of robotic arm tracking target trajectory is designed based on path feature point algorithm.The phase plane method is selected to set the velocity curve and adjust the algorithm to achieve higher processing efficiency.The motion state of the manipulator is controlled stably by track smoothing.The results show that smooth transition velocity and acceleration curves are formed,and the obtained velocity curves can meet the continuous smooth performance requirements.The maximum velocity curve is consistent with the acceleration/torque condition,which can effectively realize the driving function of the manipulator.As the number of pathpoints increases,the algorithm time will be significantly prolonged.When the number of pathpoints is set too high,the algorithm efficiency can be significantly improved when the path feature point algorithm is used for processing.The proposed algorithm can obtain shorter time than other path planning algorithms,and is more suitable for complex paths.