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轨迹规划是机器人运动控制的基础。以一种执行高速PTP操作的3自由度全回转并联机械手为研究对象,规划其操作空间轨迹,保证快速性、光滑性,减小机构磨损和破坏,防止机械手振动,同时兼顾关节空间角加速度、输入力矩等动力学指标,将正弦、多项式及修正梯形3种适合高速机构的运动规律在操作空间相同路径下进行仿真比较,遴选出最优运动规律。仿真结果表明,规划的操作空间轨迹性能优良,满足运动控制需要,轨迹规划方法对构型类似机构具有借鉴意义。
Trajectory planning is the basis of robot motion control. Taking a 3-DOF full swing parallel manipulator that performs high-speed PTP operation as the research object, the trajectory of its operation space is planned to ensure the rapidity and smoothness, reduce the wear and tear of the mechanism, prevent the manipulator from vibrating, and take account of the angular acceleration of the joint space. Input kinetic indexes such as torque, etc., And the three kinds of motion law of sine, polynomial and modified trapezoid suitable for high-speed mechanism are simulated and compared under the same path of operation space, and the optimal motion rule is selected. The simulation results show that the planned trajectory of the operating space is of good performance and meets the needs of motion control. The trajectory planning method has reference meaning for the similar structure.