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由于受电机参数的制约,对机器人进行轨迹规划过程中需要考虑关节速度、关节加速度等多个约束条件。通过对约束条件的分析,提出一种基于参数化修正梯形的时间最优平滑轨迹规划算法。利用参数化修正梯形轨迹规划法将考虑运动学、动力学约束的时间最优轨迹规划转化为两参数的寻优问题,通过遗传算法获得时间最优轨迹。最后利用提出的规划方法对二自由度混联机械手进行轨迹规划,并通过仿真验证了该方法的有效性。结果表明该轨迹规划方法能充分发挥伺服电机的性能,并保证关节加速度和驱动力矩的连续性。
Due to the constraints of the motor parameters, many constraints such as joint velocity and joint acceleration need to be considered in trajectory planning of the robot. By analyzing the constraints, a time-optimal smoothing trajectory planning algorithm based on parametric modified trapezoid is proposed. The parametric modified trapezoidal trajectory planning method is used to convert the optimal time trajectory planning considering the constraints of kinematics and dynamics into the optimization of two parameters. The optimal trajectory of time is obtained by genetic algorithm. Finally, the trajectory planning of two-degree-of-freedom hybrid manipulators is carried out by using the proposed planning method, and the effectiveness of the method is verified through simulation. The results show that the trajectory planning method can give full play to the performance of servo motor and ensure the continuity of joint acceleration and driving torque.