机械手时间最优脉动连续轨迹规划算法

为使机械手的作业效率达到最优,同时确保运动的平稳性,提出一种新的最优轨迹规划方法。通过逆运动学运算得到与任务空间轨迹对应的关节空间位置序列,采用7次B样条曲线插值方法构造启动和停止运动参数可控,且速度、加速度和脉动均连续的关节轨迹。将机械手运动学约束转化为B样条曲线的控制顶点约束,采用序列二次规划方法求解最优运动时间节点,进而规划出满足非线性运动学约束的时间最优脉动连续轨迹。仿真和试验结果表明,提出的轨迹规划方法为关节控制器提供理想的轨迹,使机械手在最短的时间平稳地跟踪任务空间的任意指定轨迹。

Time-optimal and Jerk-continuous Trajectory Planning Algorithm for Manipulators

In order to optimize the productivity and ensure the running stability of manipulators, a new optimal trajectory planning algorithm is proposed. Position series in joint space are obtained by applying inverse kinematic algorithm to a specified trajectory in task space, and B-splines of seven degree are exploited to interpolate joint position series and generate joint trajectories with continuous velocity, acceleration and jerk, as well as controllable start-stop kinematic parameters. By converting kinematic...