协作机器人分段式轨迹规划算法研究

Research on trajectory planning algorithm based on collaborative robot

基于分段多项式插值轨迹规划算法,为六自由度协作机器人选择稳定性好、轨迹平滑、计算量小的轨迹规划算法。首先,基于协作机器人的尺寸参数建立其运动学模型;其次,结合机器人工作空间确定机器人末端轨迹的关键点,并利用分段多项式轨迹规划算法对协作机器人进行轨迹规划,保证协作机器人末端经过对应关键点;最后,结合协作机器人模型对得到的运动轨迹进行动力学仿真验证,确定适合此协作机器人的轨迹规划算法。在Matlab实验平台获取3-3-3次分段式多项式轨迹规划算法、3-5-3次分段式多项式轨迹规划算法、4-5-4次分段式多项式轨迹规划算法以及5-5-5次分段式多项式轨迹规划算法下的运动轨迹,利用ADAMS进行动力学仿真验证,结果表明:在4-5-4次分段多项式轨迹规划算法下的运动轨迹平滑稳定且计算量较小。

Based on the piecewise polynomial interpolation trajectory planning algorithm,a trajectory planning algorithm with good stability,smooth trajectory,and low computational complexity is selected for the six-degree-of-freedom collaborative robot.Firstly,a kinematic model is established based on the size parameters of the collaborative robot.Secondly,the key points of the robot's end trajectory are determined by combining the robot's workspace,and the piecewise polynomial trajectory planning algorithm is used to plan the trajectory of the collaborative robot to ensure that the end of the collaborative robot passes through the corresponding key points.Finally,the above-mentioned motion trajectory is dynamically simulated and verified using the collaborative robot model to determine the trajectory planning algorithm suitable for this collaborative robot.The motion trajectories obtained under the 3-3-3 piecewise polynomial trajectory planning algorithm,3-5-3 piecewise polynomial trajectory planning algorithm,4-5-4 piecewise polynomial trajectory planning algorithm,and 5-5-5 piecewise polynomial trajectory planning algorithm are obtained on the Matlab experimental platform,and dynamic simulation verification is performed using ADAMS.The results show that the motion trajectory under the 4-5-4 piecewise polynomial trajectory planning algorithm is smooth and stable with low computational complexity.