六轴串联机器人位姿同步的实时轨迹规划

Real time trajectory planning for configuration synchronization of 6-DOF robot

【目的】为实现工业机器人末端的位型控制,生成光滑末端位姿轨迹,提出一种位姿同步的实时规划策略。【方法】首先,基于非均匀B样条的路径规划方法,并结合基于单位四元数的姿态规划方法,拟合位姿示教点获取机器人末端位姿轨迹参数;然后,基于S形加减速曲线规划机器人末端切向速度;最后,根据曲线长度和曲线参数的对应关系,实时计算末端位姿。【结果】规划所得机器人末端路径通过所有示教点,曲线长度和参数的拟合误差小于0.01 mm,末端速度连续,在其他条件相同时,球面样条插值下的姿态过渡更平滑。【结论】当机器人末端沿算法指定的位姿路径移动时,末端速度可控,关节过渡平稳,这也验证了上述算法的有效性。

[Purposes]A real time configuration planning algorithm is proposed in this paper to generate the smooth end trajectory of an industrial robot such that its end feed speed can be controlled.[Methods]Firstly,the path planning method based on non-uniform B-spline and the attitude planning method based on unit quaternion are combined to fit the position and posture teaching points to obtain the position and posture trajectory parameters of the robot end.Then,the tangential velocity at the end of the robot is planned based on the S-type curve.Finally,according to the corresponding relationship between curve length and parameters,the end configuration is calculated in real time.[Findings]The planned robot end path passes through all teaching points,the curve length and parameter fitting error are less than 0.01 mm,the end velocity is continuous,and the attitude transition under spherical spline interpolation is smoother under the same other conditions.[Conclusions]When the robot moves along the pose path specified by the algorithm,the end speed is controllable and the joint transition is smooth,which verifies the effectiveness of the algorithm.