基于多项式拟合插值函数的码垛机器人轨迹规划

摘要

We present a new polynomial fitting interpolation function and joint space based trajectory planning with 4-DOF pal etizing robot as a subject. lt can not only guarantee speed, acceleration and even jerk bound and continuation, but also acquire the shortest execution time for different restricted conditions. We also implement further combination and optimization of joint movement process based on the specific mechanical structure, movement mode and terminal movement route of the robot, so programming control is simple. We then employ MATLAB to simulate fitting curves, and investigate the performance of symmetric and asymmetric fitting curves. Motion control of pal etizing robot is eventual y realized with software Trio Motion Perfect. Results show that the trajectory planning is accurate, feasible and efficient.%以四自由度码垛机器人为研究对象,基于关节空间提出一种新型多项式拟合插值的运动轨迹规划方法.该方法不仅能够保证其速度、加速度甚至冲击有界且连续,还可得到不同限制条件下机器人最短执行时间;同时根据码垛机器人的特殊结构和特定运动模式,基于机器人末端运行路径实现了对关节运动过程的进一步合并优化,使得编程控制简单化.基于MATLAB软件对拟合曲线实现了仿真,分析对比了对称型及非对称型拟合曲线各自的性能.最后,在TRIO Motion Perfect软件环境下实现了码垛机器人实验运动控制.结果表明,该运动轨迹规划方法准确可行且工作效率高.