摘要
工业机器人在加工不规则工件时用直线和圆弧轨迹逼近工件外形的方法不能满足加工要求。为了解决这一问题,研究三次均匀B样条曲线拟合方法在工业机器人轨迹规划算法中的应用,目的是使机器人末端以三次B样条的曲线轨迹通工件上各加工点。首先,分析三次均匀B样条曲线的特性,给出了三次均匀B样条曲线的表达式。然后,在增加曲线自由端点条件后、使用追赶算法快速反算出控制点;使用预估校正的方法对速度进行规划,使机器人末端速度以梯形加减速规律变化。最后,以国产某型号工业机器人为本体,对所提算法进行仿真验证,给出了该型机器人的关节连杆模型和D-H参数。仿真效果良好,证明该算法具有可行性。
It is hard to approximate the shape of workpiece using straight line curve and arc curve. Therefore, a trajectory planning algorithm based on the cubic uniform B-spline curve is researched to solve such problems. The purpose is to drive the robot＇ s end-effector move along each working point on the workpiece smoothly. After re- viewed characteristics of cubic uniform B-spline curve, the expressions of such curve had been listed; a chasing method had been used to calculate the control points since two free endpoints conditions had been added to the solu- tions. A predictor-corrector method was used to reason the interpolation algorithm, which could drive the velocity of end-effecter to be a parabolic blends speed curve. Then, all the algorithms were simulated based on an industry ro- bot, the joint-link model and D-H parameters of such industry robot were listed. The simulation result is quiet well and the algorithms are feasible.
出处
《科学技术与工程》
北大核心
2013年第13期3621-3625,3646,共6页
Science Technology and Engineering
