基于傅里叶级数展开的码垛机器人轨迹规划

Trajectory Planning of Palletizing Robot Based on Fourier Series Expansion

为解决码垛机器人工作中因频繁启停而产生的冲击过大与常规多项式曲线规划效率低下等问题,课题组以SP-120系列码垛机器人为研究对象,采用改进D-H参数法建立机器人的D-H坐标系,进行正、逆运动学求解分析。利用基于傅里叶级数展开的轨迹规划方法进行了起始点至目标点的点对点连续轨迹规划,并利用MATLAB软件进行仿真分析。仿真结果表明:基于傅里叶级数展开所得各关节角位移、角速度和角加速度曲线连续、平稳,且工作空间运行轨迹平滑,解决了码垛工况下冲击过大问题;与五次多项式插值算法相比,得到了更大的峰值角速度和一段恒定的峰值角加速度,解决了常规多项式曲线规划效率低下问题。

To solve the problems of excessive impact and low efficiency in conventional polynomial curve planning caused by frequent start and stop during the operation of palletizing robots,with the SP-120 series palletizing robots as the research object,the D-H coordinate system for the robot was established by using an improved D-H method,and the forward and inverse kinematic solution was analyzed.A trajectory planning method based on Fourier series expansion was used for point-to-point continuous trajectory planning from the starting point to the target point,and simulation analysis was carried out with MATLAB software.The simulation results show that the angular displacement,angular velocity and angular acceleration curves of each joint based on Fourier series expansion are continuous and stable,and the running trajectory of workspace is smooth,the problem of excessive impact under palletizing conditions.Compared with the quintic polynomial interpolation algorithm,a larger peak angular velocity and a constant peak angular acceleration are obtained,which solves the problem of low efficiency of conventional polynomial curve planning.