六自由度机械臂轨迹规划方法的研究

Research on Trajectory Planning Method for 6-DOF Manipulator

针对带有抛物线过渡的线性插值方法在加速段与线性段衔接时刻冲击过大的问题,提出了带二三次多项式混合过渡的线性插值轨迹规划方法。通过在冲击激烈变化时刻的时间邻域内增加三次多项式曲线,使加速度可连续变化,削弱冲击在此时对机械臂关节的影响。给出了提出的轨迹规划方法的轨迹曲线方程。针对六自由度机械臂关节运用MATLAB对关节空间进行仿真,并对两种轨迹规划方法在角度与角加速度方面进行了比较分析。仿真结果表明:新提出的方法能够有效削弱冲击对关节的影响。

Aiming at the problem that the linear interpolation method with parabolic transition has too large impact when the acceleration segment and the linear segment join,a linear interpolation trajectory planning method with second and third degree polynomial mixed transition is proposed.By adding a cubic polynomial curve in the time neighborhood of the moment when the impact changes violently,the acceleration can be continuously changed,and the impact on the joints of the manipulator is weakened at this time.The trajectory curve equation of the proposed trajectory planning method is given.MATLAB is used to simulate the joint space of the 6-DOF manipulator joint,and the two trajectory planning methods are compared and analyzed in terms of Angle and angular acceleration.The simulation results show that the proposed method can effectively weaken the impact effect on joints.