工业机器人关节空间轨迹规划及优化研究综述
Review of Joint Space Trajectory Planning and Optimization for Industrial Robot
- 机械传动 2020年44卷第2期 页码：154-165
- 作者机构：
1.中南大学 高性能复杂制造国家重点实验室， 湖南 长沙 410083
- 作者简介：
郭勇（1967— ），男，重庆人，副教授，高工，硕士生导师，从事工程机械控制、机电液一体化等方面的研究。
赖广（1997— ），男，重庆人，硕士研究生，主要研究方向为机械电子工程。
- 基金信息：
DOI：10.16578/j.issn.1004.2539.2020.02.024
中图分类号：
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郭勇,赖广.工业机器人关节空间轨迹规划及优化研究综述[J].机械传动,2020,44(02):154-165.
Guo Yong Lai Guang.Review of Joint Space Trajectory Planning and Optimization for Industrial Robot[J].Journal of Mechanical Transmission,2020,44(02):154-165.
郭勇,赖广.工业机器人关节空间轨迹规划及优化研究综述[J].机械传动,2020,44(02):154-165. DOI： 10.16578/j.issn.1004.2539.2020.02.024.
Guo Yong Lai Guang.Review of Joint Space Trajectory Planning and Optimization for Industrial Robot[J].Journal of Mechanical Transmission,2020,44(02):154-165. DOI： 10.16578/j.issn.1004.2539.2020.02.024.
摘要
随着机器人技术的发展，工业机器人广泛应用于自动化生产之中，极大地提高了生产效率以及自动化程度。轨迹规划是完成作业任务的关键环节，而轨迹优化则进一步提高了任务完成质量，也顺应了工业发展的需要。对工业机器人关节空间的轨迹规划及优化研究进展进行了综述。首先，简述了关节空间轨迹规划算法，指出多项式插值是主要方式，B样条曲线因其优良特性是今后发展的必然趋势。然后，对不同目标下的轨迹优化进行了全面综述，指出优化目标的确定以及算法的改进等还存在的问题。最后，对今后的发展方向进行了展望，多目标优化求解方式以及约束的动态调整等将是今后的研究重点。
Abstract
With the development of robotics technology， industrial robots are widely used in automation production， which greatly improves the production efficiency and automation degree. Trajectory planning is the key link to complete the task， and trajectory optimization further improves the quality of mission completion and meets the needs of industrial development. The research progress of trajectory planning and optimization for joint space of industrial robots is reviewed. Firstly， the algorithm of joint space trajectory planning is briefly described. It is pointed out that polynomial interpolation is the main mode， and B-spline curve is an inevitable trend of future development due to its excellent characteristics. Then， the trajectory optimization under different objectives is comprehensively summarized， and the existing problems such as the determination of the optimization objectives and the improvement of the algorithm are pointed out. Finally， the future development direction is prospected. The multi-objective optimization solution and dynamic adjustment of constraints will be the focus of future research.
关键词
工业机器人 关节空间 轨迹规划 轨迹优化
Keywords
Industrial robotJoint spaceTrajectory planningTrajectory optimization
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