| 摘 要: 针对传统“S”形轨迹规划工业机器人稳定性差的缺点，提出了一种基于双变量反正切函数的改进“S”形轨迹规划算法。引入双变量反正切函数结合运动学逆解的方法求出关节转角的解。依据机器人运动准则得到关节转角的最优解。结合关节转角最优解和改进“S”形轨迹约束机器人运动过程中最大速度、加速度、加加速度的限制值，实现从位移到加加速度均为时间的连续有界轨迹。实验结果表明，改进“S”形轨迹规划算法相较于传统轨迹算法，有效提升了机器人的稳定性。 |
| 关键词: 平面关节机器人；运动学；轨迹规划；关节空间 |
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中图分类号: TP311
文献标识码: A
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| 基金项目: 江苏省高等学校自然科学研究面上项目(19KJB120014,19KJB510061). |
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| Research on S-shaped Trajectory Planning Algorithm for 3-DOF Planar Joint Robot |
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CHEN Dengqian1, KONG Weibin1,2, WANG Dezhi3, KONG Xiangye1, PING Xin1
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( 1.Yancheng Institute of Technology, Yancheng 224051, China ;
2.Institute of Optoelectronic Information Technology, Yancheng Institute of Technology, Yancheng 224051, China ;
3.Optorun (Shanghai ) Co., Ltd ., Shanghai 200444, China)
632551204@qq.com; kongweibin2007@sina.com; Wangdz@optorun.cn;; bertkong0304@163.com; 820796240@qq.com
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| Abstract: Aiming at the poor stability of traditional S-shaped trajectory planning industrial robots, this paper proposes an improved S-shaped trajectory planning algorithm based on bivariate arctangent function. Bivariate arctangent function, combined with inverse kinematics solution, is introduced to solve the joint angle. The optimal joint angle is obtained according to the motion criterion of the robot. The optimal solution of joint rotation angle and improving the limit values of maximum velocity, acceleration and jerk in the process of robot motion constrained by S-shaped trajectory, a continuous bounded trajectory with time from displacement to jerk is realized. The experimental results show that the improved S-shaped trajectory planning algorithm effectively improves the stability of the robot compared with the traditional trajectory planning algorithm. |
| Keywords: planar joint robot; kinematics; trajectory planning; joint space |
