基于时间最优的搬运机器人运动规划

摘要

In order to improve the speed and stationarity of the Handling robot when working, the robot's trajectory is planed in joint space using Cubic spline curve, so that the speed and acceleration is consequent. For the specific movement and mechanical structure of the robot, A Planning method based on time optimal is proposed in the traditional model based on the FTP movement, the trajectory of palletizing process is re-planed. At last, it is verified that the speed of palletizing is greatly improved by using the method.%为了提高搬运机器人在码垛过程中的速度和运动平稳性,在其关节空间内,以时间最短为规划目标,采用三次样条曲线对搬运机器人的运动轨迹进行规划,保证其速度,加速度连续；针对搬运机器人的特定的工作方式和特定的机械结构,在传统的PTP运动模式基础上提出一种基于时间最优的规划方法,对机器人整个码垛过程进行再规划.通过实验验证,运动优化后,其码垛速度大大提高.