搬运机械臂的初始加速度和速度连续运动规划研究

工业机械臂在执行搬运任务时可能会出现初始关节加速度和速度跳变的情况,这会影响机械臂电机的使用寿命,并使搬运的物品受到较大的冲击力,从而造成物品的损坏.针对该情况,设计了一种基于伪逆的机械臂初始加速度和速度连续运动规划方案.首先,根据机械臂关节角状态和末端执行器运动状态,对机械臂在加速度层以及速度层上建立伪逆算法求解模型...

Research on motion planning of transport manipulator with continuous acceleration and velocity at the initial moment

Industrial manipulator may experience sudden jump of initial joint acceleration and velocity when performing transport tasks,which will affect the service life of the manipulator motors and may lead to the damage of the transport items.In order to remedy the defect,a pseudo-inverse-type motion planning scheme of manipulator with continuous acceleration and velocity at the initial moment was designed.Firstly,according to the joint angle state of the manipulator and the motion state of the end-effector,a pseudo-inverse-type model was established on the acceleration and velocity level.Secondly,a constraint function was designed and imposed on the joint acceleration and velocity to achieve continuous change of the joint acceleration and velocity from zero.Thirdly,an error-compensation method was employed to reduce the position error of the end-effector for ensuring the accuracy of the trajectory tracking during the task execution.Finally,the motion planning scheme was simulated on MATLAB software for the planar three link manipulator and PA10 redundant manipulator.The simulation results show that the motion planning scheme can eliminate the initial joint acceleration and velocity jump,and thus,a higher precision can be obtained for the end-effector tracking trajectory.