【摘要】：以四自由度碼垛機(jī)器人為研究對(duì)象,基于關(guān)節(jié)空間提出一種新型多項(xiàng)式擬合插值的運(yùn)動(dòng)軌跡規(guī)劃方法。該方法不僅能夠保證其速度、加速度甚至沖擊有界且連續(xù),還可得到不同限制條件下機(jī)器人最短執(zhí)行時(shí)間;同時(shí)根據(jù)碼垛機(jī)器人的特殊結(jié)構(gòu)和特定運(yùn)動(dòng)模式,基于機(jī)器人末端運(yùn)行路徑實(shí)現(xiàn)了對(duì)關(guān)節(jié)運(yùn)動(dòng)過程的進(jìn)一步合并優(yōu)化,使得編程控制簡單化�；贛ATLAB軟件對(duì)擬合曲線實(shí)現(xiàn)了仿真,分析對(duì)比了對(duì)稱型及非對(duì)稱型擬合曲線各自的性能。最后,在TRIO Motion Perfect軟件環(huán)境下實(shí)現(xiàn)了碼垛機(jī)器人實(shí)驗(yàn)運(yùn)動(dòng)控制。結(jié)果表明,該運(yùn)動(dòng)軌跡規(guī)劃方法準(zhǔn)確可行且工作效率高。
[Abstract]:Taking the four-degree-of-freedom palletizing robot as the research object, a new trajectory planning method based on joint space is proposed. This method can not only ensure that the velocity, acceleration and even impact are bounded and continuous, but also obtain the shortest execution time of the robot under different constraints. At the same time, according to the special structure and specific motion mode of the palletizing robot, the further combination and optimization of the joint motion process is realized based on the end running path of the robot, which simplifies the programming control. Based on MATLAB software, the fitting curve is simulated, and the performance of symmetric and asymmetric fitting curve is analyzed and compared. Finally, the experimental motion control of palletizing robot is realized in TRIO Motion Perfect software environment. The results show that the motion trajectory planning method is accurate and feasible and the working efficiency is high.
【作者單位】： 南京理工大學(xué)能源與動(dòng)力工程學(xué)院;
【分類號(hào)】：TP242

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