【摘要】 为提高搬运机器人在充满静态障碍的环境中物品搬运的效率，提出了一种路径解耦的搬运机器人运行轨迹优化控制算法。该算法首先通过路径曲率定义运动剖面的最大加速度和速度限制。然后估计路径在所有路径点的切线、曲率和曲率导数，并利用插值算法得到已知路径曲率和具有三阶几何连续性的光滑完整路径曲线。最后通过设计满足系统安全约束和充分考虑搬运路径曲线局部特征的物品搬运速度剖面，确保搬运机器人安全、快速地将物品移动到目标位置。通过解决搬运机器人在充满静态障碍的杂乱环境中的物品搬运问题，验证了所提算法的有效性。验证结果表明，相比于休息到休息的传统控制算法，路径解耦的搬运机器人运行轨迹优化控制算法，在总路径长度相同的情况下，物品搬运总用时减少了23.71%。因此，路径解耦的搬运机器人运行轨迹优化控制算法将具有良好的实际应用价值。更多还原

【Abstract】 To improve the goods handling efficiency of handling robots in an environment full of static obstacles,a trajectory optimization control algorithm for handling robots based on path decoupling is proposed in this paper.Firstly,the maximum acceleration and velocity limits of the moving profiles of handling robots are defined by path curvatures.Then the tangents,curvatures and curvature derivatives of the path at all path points are estimated,and the smooth path curve with known path curvatures and thirdorder geometric continuity is obtained by interpolation algorithm.Finally,a goods handling velocity profile is designed to satisfy the safety constraints of the system and fully consider the local characteristics of the moving path curve to ensure that the robot can move the goods safely and quickly to the target position.The effectiveness of the proposed algorithm is verified by solving the problem of handling goods by handling robot in a chaotic environment full of static obstacles.The verification results show that,compared with the traditional control algorithm of resting to resting,the moving trajectory optimization control algorithm for handling robots based on path decoupling can reduce the total goods handling time by 23.71% when the total path length is the same.Therefore,the proposed optimization control algorithm based on path decoupling will have good practical application value in the effective moving trajectory optimization control of handling robots.更多还原