三自由度永磁球形电机轨迹规划仿真

摘要

Trajectory planning is to calculate the expected trajectory according to the requirement of the position servo task,.However,compared with robot path planning problem of spherical motor trajectory planning with nonlinear and time-varying,the difficulty of trajectory planning increases.With time as a parameter,the S curve,exponential curve,trigonometric curves,cubic spline,B-spline,and non uniform rational B spline (NURBS) were used respectively to carry out the continuous trajectory planning for the three-degree freedom spherical permanent magnet motor.Permanent magnet spherical motor trajectory was regarded as a series of key points calculated via inverse kinematics.Then the key points were linked pairwise through the above six planning methods.With the angular velocity as the constraint conditions,the comparative analyses of the characteristics of different methods were carried out.In the acceleration and deceleration section of the movement process,we jointed the maximum values of all angular velocity curves to get an angular velocity curve of the comprehensive method,thus to realize the time optimal trajectory planning.The simulation results show that the method is feasible.%轨迹规划是根据位置伺服任务的要求,计算出预期的运动轨迹.然而,与应用于机器人轨迹规划问题相比球形电机轨迹规划具有非线性和时变性,加大了轨迹规划的难度.以时间为参数,分别使用S曲线、指数曲线、三角函数曲线、三次样条、B样条、非均匀有理B样条(NURBS)等方法对三自由度永磁球形电机进行连续的轨迹规划.将运动轨迹视为逆运动学计算得到的一系列关键点构成,然后将关键点两两之间通过以上六种规划方法连结.以角速度作为约束条件,在运动过程的加速段和减速段分别取各种角速度曲线中的最大值拼接可以得到一条综合方法的角速度曲线,由此实现时间最优的轨迹规划,仿真结果表明上述方法可行.