Smooth Trajectory Planning for Robot under Multiple Constraint

Liu Jing; Zhang Ming

doi:10.16578/j.issn.1004.2539.2016.09.009

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Smooth Trajectory Planning for Robot under Multiple Constraint

更新时间：2022-10-20

- Smooth Trajectory Planning for Robot under Multiple Constraint
- Vol. 40, Issue 9, Pages: 43-47(2016)
- 作者机构：
  
  1. 江西理工大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.009
  CLC：
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[1]刘静,张明.考虑多约束的机器人平滑轨迹规划[J].机械传动,2016,40(09):43-47+127.

Liu Jing, Zhang Ming. Smooth Trajectory Planning for Robot under Multiple Constraint. [J]. 40(9):43-47(2016)
[1]刘静,张明.考虑多约束的机器人平滑轨迹规划[J].机械传动,2016,40(09):43-47+127. DOI： 10.16578/j.issn.1004.2539.2016.09.009.

Liu Jing, Zhang Ming. Smooth Trajectory Planning for Robot under Multiple Constraint. [J]. 40(9):43-47(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.009.

摘要

由于受电机参数的制约,对机器人进行轨迹规划过程中需要考虑关节速度、关节加速度等多个约束条件。通过对约束条件的分析,提出一种基于参数化修正梯形的时间最优平滑轨迹规划算法。利用参数化修正梯形轨迹规划法将考虑运动学、动力学约束的时间最优轨迹规划转化为两参数的寻优问题,通过遗传算法获得时间最优轨迹。最后利用提出的规划方法对二自由度混联机械手进行轨迹规划,并通过仿真验证了该方法的有效性。结果表明该轨迹规划方法能充分发挥伺服电机的性能,并保证关节加速度和驱动力矩的连续性。

Abstract

Due to the restriction of the motor parameter,the various constraints,such as angular velocity constraint and angular acceleration constraint should be considered when planning the trajectories of robot. By analyzing the constraints condition,a novel smooth and time optimal trajectory planning approach is proposed based on parametric modified trapezoidal. The time optimal trajectory planning problem which consider kinematics and dynamics constraints are transformed into a two-variable optimization problem with above trajectory planning approach,the time optimal trajectory is obtained by genetic algorithm. The effectiveness of the planning algorithm is verified by an experiment for a two degree hybrid manipulator. The results show that this planning algorithm can make full use of driving performances,and guarantee the continuity of the joint acceleration and torque.

关键词

约束轨迹规划参数化修正梯形时间最优

Keywords

ConstraintTrajectory planningParametric modified trapezoidalTime optimal

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