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基于NURBS算法的工业机器人轨迹规划研究
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国家自然科学青年基金资助项目(61401179)


Research on Trajectory Planning of Industrial Robot Based on NURBS Algorithm
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    摘要:

    轨迹规划是工业机器人研究领域的重要内容之一。为解决使用直线与圆弧逼近不规则曲线方法带来较大误差的问题,提出使用NURBS拟合自由曲线,并使用S形速度曲线来控制机器人末端的运动速度和加速度,使各个插补点的位置、速度和加速度能够连续,将之反推到关节空间可以得到各个关节的角度、角速度和角加速度。最后以IRB2600工业机器人为仿真本体,通过MATLAB仿真证明:NURBS和S形速度曲线相结合的方法可以得到在关节空间连续、平稳的运行轨迹、速度曲线、加速度曲线,减弱了因各关节角度、角速度、角加速度突变带来的冲击影响,优化了机器人运行轨迹。

    Abstract:

    Trajectory planning is one of the important contents in industrial robot research field. In order to solve the problem of large error caused by the method of linear and arc approximating irregular curve, a NURBS fitting free curve was proposed and the velocity and acceleration of the end of the robot were controlled by using the S shape speed curve, so that the position, speed and acceleration of each interpolation point could be continuous. The angle, angular velocity and angular acceleration of each joint could be obtained by pushing it back into joint space. Finally, with the IRB2600 industrial robot as the simulation ontology, the MATLAB simulation proves that the combination of NURBS and Sshape velocity curve can get continuous and steady trajectory, the velocity curve and the acceleration curve of the joint space. The impact caused by mutation of the joint angle, angular velocity, angular acceleration is weaken and the trajectory of the robot is optimized.

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岳晴晴,林明,林永才.基于NURBS算法的工业机器人轨迹规划研究[J].机床与液压,2019,47(9):28-32.
. Research on Trajectory Planning of Industrial Robot Based on NURBS Algorithm[J]. Machine Tool & Hydraulics,2019,47(9):28-32

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  • 在线发布日期: 2020-01-19
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