一种改进机械臂轨迹规划算法研究

Research on a Novel Manipulator Trajectory Planning Algorithm

传统S型加减速规划算法计算量大及机器人存在最大速度、最大加速度、最大加加速度的阈值,难以根据时间参数规划出一条用时最短曲线。为解决此问题,文中提出一种采用非线性跟踪微分器动态调参加减速规划算法。首先,在传统S型加减速规划的基础上,引入了自抗扰控制技术中的非线性跟踪微分器(Nonlinear Tracking Differentiator);其次,利用跟踪微分器的离散表达形式得到了加加速度、加速度、速度和位移随时间变化的曲线;最后,跟踪微分器以位移、最大速度、最大加速度及最大加加速度为限制参数,能够规划出用时最短的曲线。仿真试验结果表明,改进的S型加减速规划算法能够将运行时间缩短27.5%,有效地提高了系统的工作效率。

In view of the large amount of calculation of the traditional S-type acceleration and deceleration planning algorithm and the threshold of the maximum speed,acceleration and acceleration of the robot,it is difficult to plan a time-consuming shortest curve according to the time parameters.To solve this problem,this paper proposes a nonlinear tracking differentiator dynamic adjustment to participate in the deceleration planning algorithm.Firstly,based on the traditional S-type acceleration and deceleration planning,the nonlinear tracking differentiator in the active disturbance rejection control technology is introduced.Secondly,the variation curves of acceleration,acceleration,velocity and displacement with time are obtained by using the discrete expression of tracking differentiator.Finally,the tracking differentiator uses displacement,maximum velocity,acceleration and jerk as limiting parameters to plan the shortest curve.The simulation results show that the improved S-type acceleration and deceleration planning algorithm can shorten the running time by 27.5%,and effectively improve the working efficiency of the system.