逆向驱动焊接机器人NURBS轨迹规划

针对焊接机器人逆向运动学不易求解且多解或无解的缺点,提出一种基于ADAMS和MATLAB的逆向驱动轨迹规划方法,并采用非均匀有理B样条(non-uniform rational B-splines,NURBS)进行关节曲线拟合,并进行焊接机器人的运动学仿真.结果表明,与正弦曲线和五次多项式等传统规划算法相比,逆向驱动NURBS轨迹规划算法,获得的各关节角位移曲线光顺性较好,机械手各方向的位移误差均较小,误差小于1 mm,从而快速准确实现焊接机器人的预期轨迹,为焊接机器人轨迹规划提供了一种新思路.

Reverse-driving trajectory planning of welding robot with NURBS

During solving inverse kinematics problems of welding robot, there are often multiple solutions or even no solution. A reverse-driving trajectory planning method based on ADAMS and MATLAB was put forward to overcome the above disadvantages. With the non-uniform rational B-splines (Non-Uniform Rational B-Splines, NURBS) as curve fitting tool, the kinematics simulation of welding robot was carried out. The results show that,compared to the sinusoidal curve and five-degree polynomial and other traditional planning algorithm, the joint angular displacement curve achieved by reverse-driving trajectory planning algorithm with NURBS was much better, the displacement error of manipulator in each direction was as small as less than 1 mm. Therefore, the desired trajectory of welding robot could be a-chieved quickly and accurately. This paper provided a new method for trajectory planning of welding robot.