摘要
为了保证搬运机器人在整个作业过程中运行平稳、连续 ,在关节变量空间直接进行轨迹规划 ,通过示教的方法 ,确定路径所经过的几个中间点。对于没有给定的区间 ,则利用 5次多项式进行轨迹插补 ,可方便、实时地得到机器人末端执行器的目标轨迹。应用该方法对搬运机器人关节空间轨迹规划进行仿真 ,得到的机器人工作过程中 4个关节的位移、速度、加速度的仿真曲线平滑、连续。
In order to ensure motion smooth and steady of transport robot in process,trajectory planning was done in joint coordinate system.Some middle points in the path were determined by means of teaching,other points in path were defined by interpolation calculation of five order polynomial,the objective trajectory can be obtained conveniently and in time for robot trajectory planning in joint coordinate system.This method could be used to simulate joint trajectory planning of transport robot.The results show that the curves of position speed,and acceleration of four joint are smooth and successive.It is proved that trajectory control of joint is appropriate to transport robot.
出处
《南京理工大学学报》
EI
CAS
CSCD
2000年第6期540-543,共4页
Journal of Nanjing University of Science and Technology
基金
江苏省"九五"科技攻关资助项目
关键词
机器人
仿真
轨迹
关节空间
robot,simulation,paths
joint coordinate system
