基于S型曲线的传输机器人避障轨迹规划

为了保证R-θ型传输机器人在运动过程中能够实现平稳、高速运行,避免出现冲击和振荡,对R-θ型传输机器人进行运动学分析,并基于S型曲线进行轨迹规划。针对机器人运动过程中可能与障碍物发生碰撞的情况,提出了两种避障运动方式。然后对不同的运动情形进行讨论,并通过MATLAB软件进行仿真,分析并对比了两种避障方式下的运动耗时。仿真实验结果和分析表明,基于S型曲线并采用第二种运动避障方式所耗时间较少,且运动曲线光滑,运动过程平稳、无冲击。

Obstacle Avoidance Trajectory Planning of Transfer Robot Based on S-curve

In order to ensure that the transfer robot can achieve smooth and high-speed operation during the movement, avoiding impact and oscillation, the kinematics analysis of the transmission robot is carried out, then the trajectory planning is performed based on S-curve. In view of the possibility that the robot may collide with obstacles during the movement, two obstacle avoidance movement modes are proposed. Then, different motion situations are discussed, and simulations are carried out by MATLAB software. The motion time of the two obstacle avoidance modes is analyzed and compared. The simulation results and analysis show that the S-curve and the second motion avoidance method take less time. It’s motion curve is smooth, and the motion process is stable and without impact.