Trajectory Planning of Time Optimal Manipulator based on Complex Method

Han Chen; Linsheng Li

doi:10.16578/j.issn.1004.2539.2019.03.013

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Trajectory Planning of Time Optimal Manipulator based on Complex Method

Design· Calculation | 更新时间：2022-10-03

- Trajectory Planning of Time Optimal Manipulator based on Complex Method
- Journal of Mechanical Transmission Vol. 43, Issue 3, Pages: 72-75(2019)
- 作者机构：
  
  1.南华大学机械工程学院，湖南衡阳 421001
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.03.013
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陈晗,李林升.基于复合形法的时间最优机械臂轨迹规划[J].机械传动,2019,43(03):72-75.

Chen Han,Li Linsheng.Trajectory Planning of Time Optimal Manipulator based on Complex Method[J].Journal of Mechanical Transmission,2019,43(03):72-75.
陈晗,李林升.基于复合形法的时间最优机械臂轨迹规划[J].机械传动,2019,43(03):72-75. DOI： 10.16578/j.issn.1004.2539.2019.03.013.

Chen Han,Li Linsheng.Trajectory Planning of Time Optimal Manipulator based on Complex Method[J].Journal of Mechanical Transmission,2019,43(03):72-75. DOI： 10.16578/j.issn.1004.2539.2019.03.013.

摘要

目前，大多数机械臂在工作过程中运行时间不为最优，为了提高机械臂的工作效率，提出了一种基于复合形法的时间最优机械臂轨迹规划方法。该方法以5-7-5多项式插值法作为轨迹规划的基础，并以运动角度、运动速度以及运动加速度作为约束，采用复合形法进行优化，得到满足运动要求的时间最优运动轨迹。以FS20N机器人为对象进行研究分析，并导入MATLAB进行验证，仿真结构表明，复合形法有效地优化了时间。

Abstract

At present， the operate time of the most manipulators are not optimally during the working process. In order to improve the working efficiency of the manipulator， a time optimal manipulator trajectory planning method based on the complex method is proposed. The method of 5-7-5 polynomial interpolation method is taken as the basis of trajectory planning， the motion angle， motion velocity and motion acceleration are taken as constraint， the optimization is carried out by using the complex method， the time optimal motion trajectory that meets the motion requirements is obtained. The FS20N robot is used as the object for research and analysis， and imported into MATLAB for verification， the simulation structure shows that the complex method effectively optimizes the time.

关键词

机械臂多项式插值轨迹规划运动约束复合形法时间最优

Keywords

ManipulatorPolynomial interpolationTrajectory planningMotion constraintComplex methodTime optimal

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