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为了提高机器人的工作效率和操作精度,提出了一种改进的多项式插值轨迹规划方法,它可以在满足运动学约束的前提下实现时间和冲击的综合最优。通过确定机器人在操作空间中轨迹的位置序列,由逆运动学运算得到对应的关节空间中的位置序列,且由分段多项式插值构造关节轨迹,采用序列二次规划方法求得最优运行时间,结合关节空间位置序列的运动学参数确定最终的关节轨迹。将该方法用于一种支链嵌套3自由度并联机器人的轨迹规划,证明该轨迹规划方法不仅可以使机器人的运动轨迹平滑,而且有利于减小冲击。
In order to improve the working efficiency and accuracy of the robot, an improved polynomial interpolation trajectory planning method is proposed, which can achieve the optimal combination of time and impact under the premise of satisfying the kinematic constraints. By locating the trajectory position sequence of the robot in the operating space, the corresponding position sequence in the joint space is obtained by the inverse kinematics operation, and the joint locus is constructed by the piecewise polynomial interpolation. The optimal quadratic programming method is used to obtain the optimal running time, The final joint trajectory is determined by combining the kinematic parameters of the joint spatial position sequence. This method is applied to the trajectory planning of a 3-DOF parallel robot with branch-nested branches. It proves that this trajectory planning method can not only smooth the trajectory of the robot but also reduce the impact.