基于凸轮设计理论的多关节机械手轨迹规划

Trajectory Planning Based on Cam Design Theory for Multi-joint Manipulator

当机械手进行快速运动且运动时间确定时,为实现机械手作业轨迹平滑,关节轨迹的速度、加速度、脉动曲线保持连续且减少轨迹最大加速度峰值,结合凸轮从动件运动轨迹设计方法,提出改进梯形加速度函数曲线机械手关节空间的轨迹规划方法。文章以3R机械手为载体进行仿真,仿真结果表明,同样工作任务下,该方法使机械手关节运动平稳,关节最大加速度明显小于传统的5次多项式插值的机械手关节轨迹规划。

In the cases that the robots move fast with fixed motion time and combined cam follower trajectory planning, a method based on the motion of cam follower design theory for multi-joint manipulators trajectory planning in joint space is proposed to accomplish smooth trajectory operation, the function of modified trapezoidal acceleration curve can ensure the continuous of velocity, acceleration, jerk in joints moving process and reduce the maximum acceleration value of the trajectory. This paper uses the 3 R manipulators for simulation, the simulation results show that the proposed method makes the joint motion smoothly and the maximum acceleration of joints is obviously smaller than the fifth-order polynomial interpolation method in the same task.