高精度可重构工业机器人的轨迹规划方法

为解决高精度制造业中机器人适应性差,无法重复利用的问题,将可重构工业机器人应用到制造业中。针对不同构型的机器人,提出了一种确定可重构6自由度机器人运动学参数的方法。定义单个模块坐标系和模块间坐标系的转换关系,并将与机器人构型变化相关的信息存储在专用库中,通过可重构的正向运动模块动态生成末端执行器在笛卡儿空间中的位置和方位;提出采用5-3-5样条曲线的机器人轨迹规划方法;建立单样条曲线和多样条曲线轨迹规划方程,求解不同参数下的最佳运动轨迹,保证了所生成的轨迹在位置、速度上是连续可微的,并且在开始和结束时具有0阶连续的加加速度轮廓;通过MATLAB进行轨迹跟踪仿真,与其他轨迹跟踪误差控制方法进行对比,仿真结果证明:所提出的轨迹规划方法具有良好的控制精度,并可使机器人无振动地平稳运行。

Trajectory Planning Method for High-precision Reconfigurable Industrial Robot

Aimed at the problem that robots in high-precision manufacturing industry have poor adaptability and cannot be reused, reconfigurable industrial robots were applied to manufacturing industry.A method for determining kinematics parameters of reconfigurable 6-DOF robots was proposed for different configurations of robots. The transformation relationship between single module coordinate system and inter-module coordinate system was defined. The information related to the configuration change of the robot was stored in a special library. The position and orientation of the end-effector in Cartesian space were dynamically generated by a reconfigurable forward motion module. A trajectory planning method for robots based on 5-3-5 spline curve was proposed. The trajectory planning equations of single spline curve and multi-spline curve were established to solve the optimal trajectory under different parameters, which ensures that the generated trajectory is continuously differentiable in position and speed,and the trajectory has a zero order continuous jerk at the beginning and the end. The trajectory tracking was simulated by MATLAB, and the result was compared with that of other trajectory tracking error control methods. The simulation results show that the proposed trajectory planning method has good control accuracy and can make the robot run smoothly without vibration.