关节空间样条的连续点位运动规划算法

为了提高工业机器人的运动平稳性和快速性,保证机器人在走曲线时能够准确到达各示教点并且实现平滑过渡,提出一种基于关节空间样条的连续点位运动规划算法。以关节空间的单个轴为例,从一般三阶S曲线轨迹出发,为了保证规划得到的加速度不跳变以及样条曲线能够保形,在两个相邻示教点之间插入n个中间点,将一段轨迹分为n+1段,根据该关节起点和终点的位置、速度和加速度以及插入点位置、速度、加速度连续的边界条件,可以得到新的规划轨迹。最后通过实验比较验证,该规划算法能够快速实现过程点的准确到达并且加速度没有跳变、曲线能够保形,具有实际推广价值。

Continuous Point-to-point Motion Planning Algorithm Based on Splines in Joint Space

To improve the moving stationarity and rapidity of industrial robots and ensure its reachability to each teaching point and smooth transition,this paper presents a kind of continuous point to point motion planning algorithm based on splines in joint space.Take a single axis in joint space as an example,we can firstly analyzed the general third order S curve trajectory.In order to ensure the planning acceleration have no jump and the curve is conformal,we insertn intermediate points between two adjacent teaching points and therefore a section of the trajectory is divided inton＋ 1 segments.According to these boundary condi-tions the position,velocity and acceleration of the start and the end points and their continuity at the inserted points,a new planned trajectory can be ob-tained.Finally,by the experimental verification, this planning algorithm can make the robot quickly and accurately reach the teaching points without acceleration jump and the curve conformal,and can be applied to practical situation.