工业机械臂的轨迹规划插补系统设计
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摘要
针对传统梯形速度规划存在的变速冲击和机械臂空间轨迹跟随作业质量低等问题,将五次多项式替换传统梯形速度规划加减速区的方法应用到工业机械臂的轨迹插补系统中。对传统梯形加减速控制的模型和轨迹插补系统进行了分析,推导了五次多项式速度插补算法的数学模型,并在Matlab上对该算法进行了建模与仿真分析;为了验证算法的有效性,设计了四轴机械臂轨迹插补系统的硬件及软件,阐述了轨迹插补系统以及空间轨迹插补的实现流程;基于Linux开发平台和SCARA机械臂,搭建了轨迹插补系统实验,并进行了现场测试。研究结果表明:该系统在满足参数约束的同时达到了柔性插补的设计要求,在冲击度峰值方面相比传统方法降低90%以上,提升了轨迹插补的作业质量和效率。
Aiming at the problems of variable speed impact and low quality of space trajectory following operation in traditional trapezoidal velocity planning,the quintic polynomial method was applied to the trajectory interpolation system of industrial manipulator. The traditional trapezoidal acceleration and deceleration control model and trajectory interpolation system were analyzed. The mathematical model of quintic polynomial speed interpolation algorithm was deduced. The algorithm was modeled and simulated in Matlab. In order to verify the effectiveness of the algorithm,the hardware and software of the trajectory interpolation system for four-axis manipulator were designed. The trajectory interpolation system and the realization process of space trajectory interpolation were also presented. Based on Linux development platform and SCARA manipulator,the trajectory interpolation system was built and tested. The results indicate that the system meets the design requirements of flexible interpolation while satisfying the parameter constraints. Compared with traditional methods,the impact peak value is reduced by more than 90%,and the work quality and efficiency of trajectory interpolation are improved.
Aiming at the problems of variable speed impact and low quality of space trajectory following operation in traditional trapezoidal velocity planning,the quintic polynomial method was applied to the trajectory interpolation system of industrial manipulator. The traditional trapezoidal acceleration and deceleration control model and trajectory interpolation system were analyzed. The mathematical model of quintic polynomial speed interpolation algorithm was deduced. The algorithm was modeled and simulated in Matlab. In order to verify the effectiveness of the algorithm,the hardware and software of the trajectory interpolation system for four-axis manipulator were designed. The trajectory interpolation system and the realization process of space trajectory interpolation were also presented. Based on Linux development platform and SCARA manipulator,the trajectory interpolation system was built and tested. The results indicate that the system meets the design requirements of flexible interpolation while satisfying the parameter constraints. Compared with traditional methods,the impact peak value is reduced by more than 90%,and the work quality and efficiency of trajectory interpolation are improved.
引文
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[21]王昕,王均伟,饶志,等.基于NURBS曲线轨迹规划与速度规划的研究[J].系统仿真学报,2008,20(15):3973-3980.
[22]刘能广.基于遗传算法的二层优化在喷漆机器人轨迹规划中的研究[D].武汉:武汉理工大学机电工程学院,2008.
[23]耿英博,杜向阳,张克平.基于Eeher CAT总线的涂胶机器人控制系统设计[J].轻工机械,2018,36(1):66-70.
[24]司艳伟,陈诺立.六自由度果蔬采摘机器人关节空间轨迹规划[J].轻工机械,2017,35(4):8-12.
[25]阎思达,陈雁,陈文卓.六自由度机器人运动特性分析[J].液压气动与密封,2017(11):26-29.
[26] SHI Bu-hai,HE Jing-peng. The robot motion trajectory algorithm research based on B-spline and new velocity planning[C]. Chinese Control and Decision Conference(CCDC),Yinchuan:IEEE,2016.
[2]程辉辉,刘燕坡,陈礼安,等.串联机械手空间轨迹运动控制方法研究[J].机电工程技术,2017,46(9):58-61,145.
[3]周刚.垂直关节型6自由度机器人笛卡尔空间轨迹规划的研究[D].广州:华南理工大学机械工程学院,2011.
[4]史中权,叶文华.多轴联动条件下插补速度实时可调的前瞻控制算法[J].航空学报,2014,35(2):582-592.
[5]陈伟华.工业机器人笛卡尔空间轨迹规划的研究[D].广州:华南理工大学机械与汽车工程学院,2010.
[6]刘好明. 6R关节型机器人轨迹规划算法研究及仿真[D]山东:山东理工大学机械工程学院,2008.
[7]付晓龙,何建萍,王付鑫.焊接机器人轨迹规划的研究现状[J].轻工机械,2015(2):138-141.
[8]牛永康.六自由度串联机器人轨迹规划时间最优研究[D].长春:长春工业大学机电工程学院,2013.
[9]盛巍.基于多自由度工业机械臂的避障路径规划技术的研究[D].无锡:江南大学通信与控制学院,2012.
[10] WANG L,CAO J. A look-ahead and adaptive speed control algorithm for high-speed CNC equipment[J]. International Journal of Advanced Manufacturing Technology,2012,63(5-8):705-717.
[11]林仕高.搬运机器人笛卡尔空间轨迹规划研究[D].广州:华南理工大学机械与汽车工程学院,2013.
[12]刘晓麟,林仕高,欧元贤.双五次多项式过渡机械手轨迹规划[J].机械设计与制造,2014(4):47-50.
[13] YAMAWAKI T,YASHIMA M. Arm trajectory planning by controlling the direction of end-point position error caused by disturbance[C]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics,New York:IEEE,2008.
[14]宁学涛,潘玉田,杨亚威,等.基于运动学和动力学的关节空间轨迹规划[J].计算机仿真,2015,32(2):409-413.
[15]冯高洁.基于De_Boor递推算法的一种实时NURBS曲线插补算法研究[D].广州:广东工业大学机电工程学院,2011.
[16]胡绳荪,庹宇鲲,申俊琦,等.基于B样条空间等距线的机器人轨迹优化算法[J].天津大学学报:自然科学与工程技术版,2015,48(8):723-727.
[17]黄国辉.基于DSP的NURBS曲线高速高精度实时插补算法的研究与实现[D].广州:广东工业大学机电工程学院,2013.
[18]罗钧,汪俊,刘学明,等.基于S型加减速的自适应前瞻NURBS曲线插补算法[J].计算机集成制造系统,2013,19(1):55-60.
[19]富宏亚,李茂月,刘源,等.基于曲率特性的柔性加减速NURBS插补器[J].计算机集成制造系统,2012,18(9):1921-1929.
[20]杨锦涛,姜文刚,林永才.工业机器人冲击最优的轨迹规划算法[J].科学技术与工程,2014(28):70-75.
[21]王昕,王均伟,饶志,等.基于NURBS曲线轨迹规划与速度规划的研究[J].系统仿真学报,2008,20(15):3973-3980.
[22]刘能广.基于遗传算法的二层优化在喷漆机器人轨迹规划中的研究[D].武汉:武汉理工大学机电工程学院,2008.
[23]耿英博,杜向阳,张克平.基于Eeher CAT总线的涂胶机器人控制系统设计[J].轻工机械,2018,36(1):66-70.
[24]司艳伟,陈诺立.六自由度果蔬采摘机器人关节空间轨迹规划[J].轻工机械,2017,35(4):8-12.
[25]阎思达,陈雁,陈文卓.六自由度机器人运动特性分析[J].液压气动与密封,2017(11):26-29.
[26] SHI Bu-hai,HE Jing-peng. The robot motion trajectory algorithm research based on B-spline and new velocity planning[C]. Chinese Control and Decision Conference(CCDC),Yinchuan:IEEE,2016.