基于分段速度规划的机器人臂运动平滑减振方法

目的 保证机器人臂在生产作业时，其末端速度、加速度、jerk曲线光滑且连续，避免机器人臂在高速运行时发生剧烈振动。方法 提出一种基于分段速度包络轨迹规划方法，该方法与传统样条算法相比，边界条件的确定和计算量大大简化，仅需给定运行轨迹点和期望运行时间，就能实现机器人臂末端轨迹的速度、加速度以及jerk曲线光滑连续，并且通过调节因子和分段时间间隔可以单独控制加速度、jerk曲线的波动幅值和整体运动周期。结果 在双臂并联机器人平台上，依次进行本文算法与三次样条算法的对比实验，以及本文算法在不同调节因子取值下的对比实验。在第1组实验中发现采用本文算法运行机械臂更加平稳，所得轨迹也很平滑，而三次样条算法运行机械臂振动较大；通过第2组对比实验可得，在分段时间间隔一定的情况下，调节因子取值越大机械臂运行就会越流畅，振动也会进一步减小。结论 文中提出的方法能够有效抑制机器人臂振动，可以使机器人高速平稳的运行。

Smooth Vibration Reduction Method for Robot Arm Motion Based on Segmental Velocity Planning

The work aims to ensure that the end velocity, acceleration and jerk curves of the robot arm are smooth and continuous during production operations, and to avoid violent vibration of the robot arm during high-speed operation. In this work, a segmented velocity envelope trajectory planning method was proposed, which greatly simplified the determination of boundary conditions and computation compared with the traditional spline algorithm, and could realize the smooth and continuous velocity, acceleration and jerk curve of the end trajectory of the robot arm only given the running trajectory points and the desired running time, and could control the acceleration, jerk curve and overall motion period individually by adjusting the factor and segmentation time interval. On the two-armed parallel robot platform, the comparison experiments between this algorithm and the cubic spline algorithm and the comparison experiments of this algorithm with different values of adjustment factors were conducted in turn. In the first group of experiments, it was found that the arm was smoother and the resulting trajectory was smooth, but the vibration of the arm was higher with the cubic spline algorithm; in the second group of comparative experiments, it was found that the larger the adjustment factor was, the smoother the arm would be and the vibration would be reduced. Therefore, the method proposed in this work can effectively suppress the robot arm vibration and can make the robot run smoothly at high speed.