| 基于复合形法的时间最优机械臂轨迹规划 |
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| 引用本文： | 陈晗,李林升. 基于复合形法的时间最优机械臂轨迹规划[J]. 机械传动, 2019, 43(3): 72-75,94 |
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| 作者姓名： | 陈晗 李林升 |
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| 作者单位： | 南华大学 机械工程学院,湖南衡阳,421001;南华大学 机械工程学院,湖南衡阳,421001 |
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| 基金项目： | 衡阳市重点项目;湖南省教育厅重点项目 |
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| 摘 要： | 目前,大多数机械臂在工作过程中运行时间不为最优,为了提高机械臂的工作效率,提出了一种基于复合形法的时间最优机械臂轨迹规划方法。该方法以5-7-5多项式插值法作为轨迹规划的基础,并以运动角度、运动速度以及运动加速度作为约束,采用复合形法进行优化,得到满足运动要求的时间最优运动轨迹。以FS20N仿真结构表明,复合形法有效地优化了时间。
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| 关 键 词： | 机械臂 多项式插值 轨迹规划 运动约束 复合形法 时间最优 |
Trajectory Planning of Time Optimal Manipulator based on Complex Method |
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| Chen Han,Li Linsheng. Trajectory Planning of Time Optimal Manipulator based on Complex Method[J]. Journal of Mechanical Transmission, 2019, 43(3): 72-75,94 |
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| Authors: | Chen Han Li Linsheng |
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| Affiliation: | (School of Mechanical Engineering,University of South China,Hengyang 421001,China) |
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| Abstract: | At present,the operate time of the most manipulators are not optimally during the working pro.cess.In order to improve the working efficiency of the manipulator,a time optimal manipulator trajectory plan.ning method based on the complex method is proposed.The method of 5-7-5 polynomial interpolation method is taken as the basis of trajectory planning,the motion angle,motion velocity and motion acceleration are taken as constraint,the optimization is carried out by using the complex method,the time optimal motion trajectory that meets the motion requirements is obtained.The FS20N robot is used as the object for research and analysis,and imported into MATLAB for verification,the simulation structure shows that the complex method effectively opti.mizes the time. |
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| Keywords: | Manipulator Polynomial interpolation Trajectory planning Motion constraint Complex method Time optimal |
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