【作者】 张平；

【导师】 梁艳阳；

【作者基本信息】 西南科技大学 ， 控制科学与工程， 2016， 硕士

【摘要】 随着工业机器人的应用场合越来越多,对机器人运动规划的要求也越来越严格。尤其是机器人任务空间中的位置规划和姿态规划对机器人的工作精度和工作效率具有非常重要的作用。由此,本文针对机器人末端位置和姿态路径的平滑过渡算法以及连续的自适应速度规划算法进行研究。作为研究基础,本文分析了几种典型的机器人末端位置和姿态基本路径,确定了各种路径的构造算法。在此基础上,研究了位置和姿态路径的平滑过渡算法。提出了三次非均匀B样条作为位置过渡路径,根据过渡点及切线方向等条件,反解出控制点,从而构造出平滑的位置路径。针对姿态过渡路径,提出了三次均匀四元数样条,根据基本姿态路径平滑过渡条件,反解出过渡路径的控制点及节点向量,进而得到平滑的姿态路径。本文对位置和姿态轨迹规划算法进行了深入研究。首先由平滑路径推导出位置长度和姿态角位移的表达式,针对位置或姿态样条曲线,分析了曲线导数与速度之间的关系,采用了辛普森公式进行数值积分,解决了位置或姿态样条路径的长度或角位移的计算问题;然后运用自适应S型速度规划算法对位置和姿态平滑路径进行连续的速度规划;最后以位置和姿态轨迹的最大运行时间为参考量对位置或姿态轨迹进行同步处理。在MATLAB中搭建了六自由度串联机器人的运动仿真平台,将本文研究算法由机器人运动学逆解得到关节值,通过观察关节角度、角速度等信息,从而验证了本文算法的正确性和有效性。更多还原

【Abstract】 While the applications of industrial robot increase greatly, the motion planning is required more and more strictly. The motion planning of position and orientation of robot task space can improve the precision and efficiency of robot. For the consideration, the smooth transition algorithms and continuous adaptive velocity planning algorithm of position and orientation of robot task space are researched in this article.As the base, several typical basic path of robot are analyzed in this paper, including the construction algorithms of basic path. On the base, the position and orientation smooth transition algorithms of robot task space are researched. The three non-uniform B-spline path is proposed. The control points are calculated by transitional points and its derivatives, so constructing the smooth position path. For the orientation smooth transition path, the three uniform quaternion spline path is proposed. The control points are calculated by basic smooth transition conditions, further, calculating the knot vector. So achieving the smooth orientation path.The trajectory planning algorithms of position and orientation are studied. Firstly, the position and orientation displacement formulas are received by smooth path, for the position and orientation spline, the position and orientation displacements are calculated by researching the relationship between path’s derivatives and velocity and using the Simpson formula for numerical integration. Then, for the continuous velocity planning of smooth path, using the adaptive S-type velocity planning algorithm. Finally, to achieve synchronization between position and orientation, the max operation time between them is calculated.The motion simulation platform of 6-DOF series manipulator is built up in MATLAB, the joint values are obtained by inverse kinematics of robot, the simulation verifies the correctness and effectiveness of the algorithms proposed in this article, by observing continuity of angle, angular velocity and so on.更多还原