嵌入式智能机器人自然步态关节轨迹规划方法

为了有效提升传统机器人自然步态关节轨迹规划方法的运行速度,减少计算成本,设计并提出嵌入式智能机器人自然步态关节轨迹规划方法。通过加减速控制策略对嵌入式智能机器人的关节空间进行插值处理,求解控制点,利用机器人逆运动学计算出轨迹上不同点的型值点,并获取各个衔接处控制点的取值大小,选取符合标准的数据组建B样条,根据给定的关节空间型值点,采用三次B样条曲线进行嵌入式智能机器人自然步态关节轨迹规划。仿真结果表明,所提方法能够有效减少计算成本,提升运行速度,从而获取较为满意的轨迹规划结果。

Method for Planning Natural Gait Joint Trajectory of Embedded Intelligent Robot

In order to improve the running speed of robot natural gait joint trajectory planning method and reduce the computing cost, a method to plan natural gait joint trajectory of embedded intelligent robot was designed and proposed. Through the acceleration and deceleration control strategy, the joint space of embedded intelligent robot was interpolated and the control points were solved. Moreover, the type values of different points on the trajectory were calculated by the inverse kinematics of robot, and the value of control point at each joint was obtained. Furthermore, the data conforming to the standard was selected to construct B-spline. According to the given type value points in joint space, the cubic B-spline curves was used to plan the natural gait joint trajectory of embedded intelligent robot. Simulation results show that the proposed method can effectively reduce the computing cost and improve the running speed, and thus to obtain satisfactory trajectory planning results.