基于五次B样条插值的机械臂路径平滑研究

Research on Manipulator Path Smoothing Based on Quintic B-spline Interpolation

针对机械臂路径规划后的轨迹平滑及角速度和角加速度的突变问题,提出五次B样条插值的机械臂路径平滑方法。通过MATLAB对机械臂建模,并对平滑后的轨迹进行仿真,得到轨迹、角度、角速度及角加速度图。通过与五次多项式和样条曲线对比,证明该算法能够提升机械臂角速度和角加速度的平滑性,保证起、止点速度加速度均为零,过控制点保证路径的有效性。该算法提升了机械臂运动的平顺性,降低运动冲击,为机械臂实物验证提供充分的理论支撑。

In view of the problem of sudden changes of trajectory smoothing,angular velocity and angular acceleration of path planning of the manipulator,this paper proposes a method of path smoothing for the manipulator based on quintic B-spline interpolation.The research adopts MATLAB to establish the manipulator model for simulation of the trajectory after smoothing and has obtained the curves of trajectory,angle,angular velocity and angular acceleration.Comparison results with the quintic polynomials and spline curves have proven that the algorithm applied is able to improve the smoothness of the angular velocity and angular acceleration of the manipulator,ensure that the velocity and acceleration of the starting and stopping points are zero,and can pass the control points to ensure effectiveness of the path.The algorithm applied is able to improve smoothness of manipulator movement,reduce motion impact and provide sufficient theoretical support for physical verification of the manipulator.