摘要
为了增强机器人在打磨操作中的稳定性和精确度,文中对其轨迹规划设计进行了研究。针对关节面空间,探讨了三次多项式插值、五次多项式插值和B样条曲线插值方法;针对平面直角坐标空间,研究了平面直角坐标空间轨迹规划方法。同时对比分析了它们的特点,为磨削机器人轨迹规划方法的选择提供了参考。
In order to enhance the stability and accuracy of the robot in grinding operation,this paper studies its trajectory planning and design.Aiming at joint surface space,we discuss cubic polynomial interpolation,quintic polynomial interpolation and B-spline curve interpolation methods.Aiming at the plane cartesian coordinate space,we study the trajectory planning method of plane cartesian coordinate space.At the same time,their characteristics are analyzed and compared.This study provides a reference for the choice of trajectory planning method of grinding robot.
作者
吴祖楠
田国富
WU Zunan;TIAN Guofu(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110000,China)
出处
《机械工程师》
2024年第11期25-28,共4页
Mechanical Engineer
关键词
磨削机器人
关节面空间
平面直角坐标空间
轨迹规划
grinding robot
articular surface space
plane rectangular coordinate space
trajectory planning
