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现有方法在求解工业机器人固定路径下的时间最优轨迹规划时,存在计算量大、规划时间长等弊端.为此,首先利用关节空间速度约束不等式,获得关节速度约束下相空间最大速度约束曲线;然后再利用关节加速度/扭矩约束不等式,获得加速度/扭矩约束下的必要最大速度曲线;对这两种最大速度曲线求交集,获得多重约束下的最大速度曲线.最后,采用修型/射靶算法,矫正多重约束下的最大速度曲线,得到最优时间轨迹.通过实验,验证了该算法的高效性和实时性.
The existing methods have some disadvantages such as large computational load and long planning time when solving the optimal trajectory planning of fixed path of industrial robots.In order to solve this problem, the maximum speed constraint of phase space under joint velocity constraint is obtained firstly by using joint space velocity constraint inequality Then the necessary maximum speed curve under the constraint of acceleration / torque is obtained by using the joint acceleration / torque constraint inequality, and the intersection of these two maximum speed curves is obtained to obtain the maximum speed curve under multiple constraints.Finally, Target algorithm to correct the maximum velocity curve under multiple constraints to obtain the optimal time trajectory.Experiments show that the algorithm is efficient and real-time.